Allen-Bradley Ultra3000 DSD-005, DSD-010, DSD-020, DSD-xxxX, DSD-xxx-SE, DSD-xxx-DN, DSD-xxxX-DN, DSD-030, DSD-075, DSD-150, DSD-HV030, DSD-HV050, DSD-HV100, DSD-HV150, DSD-HV220, DSD-HVxxxX, DSD-HVxxx-SE, DSD-HVxxx-DN, DSD-HVxxxX-DN Installation Manual
Below you will find brief information for Ultra3000 DSD-005, Ultra3000 DSD-010, Ultra3000 DSD-020, Ultra3000 DSD-030, Ultra3000 DSD-075, Ultra3000 DSD-150, Ultra3000 DSD-HV030, Ultra3000 DSD-HV050, Ultra3000 DSD-HV100. This manual provides the mounting, wiring, and connecting procedures for the Ultra3000 and standard Rockwell Automation/Allen-Bradley motors recommended for use with the Ultra3000.
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Ultra3000
Digital Servo Drives
(Catalog Numbers
2098-DSD-005, -010, and -020
2098-DSD-xxxX
2098-DSD-xxx-SE
2098-DSD-xxx-DN
2098-DSD-xxxX-DN
2098-DSD-030, -075, and -150
2098-DSD-xxxX
2098-DSD-xxx-SE
2098-DSD-xxx-DN
2098-DSD-xxxX-DN
2098-DSD-HV030, -HV050, -HV100, -HV150, and -HV220
2098-DSD-HVxxxX
2098-DSD-HVxxx-SE
2098-DSD-HVxxx-DN
2098-DSD-HVxxxX-DN)
Installation Manual
Important User Information
Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.
The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example.
Since there are many variables and requirements associated with any particular installation, Allen-Bradley
does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.
Allen-Bradley publication SGI-1.1, Safety Guidelines for the
Application, Installation and Maintenance of Solid-State Control
(available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in whole or part, without written permission of Rockwell Automation, is prohibited.
Throughout this manual we use notes to make you aware of safety considerations:
ATTENTION
!
Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss.
Attention statements help you to:
• identify a hazard
• avoid a hazard
• recognize the consequences
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
Allen-Bradley is a registered trademark of Rockwell Automation.
ControlLogix, Ultra3000, and Ultraware are trademarks of Rockwell Automation.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
SERCOS Interface is a trademark of the Interests Group SERCOS interface e.V. (IGS).
UL is a registered trademark of Underwriters Laboratories, Inc.
Windows is a registered trademark of Microsoft Corporation.
i
Preface
Installing Your Ultra3000
Ultra3000 Connector Data
Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Conventions Used in this Manual . . . . . . . . . . . . . . . . . . . . P-3
Product Receiving and Storage Responsibility . . . . . . . . . . . P-3
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-4
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-4
Chapter 1
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Complying with European Union Directives . . . . . . . . . . . . 1-1
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Low Voltage Directive. . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Before Mounting Your System . . . . . . . . . . . . . . . . . . . . . . 1-2
Storing Your Ultra3000 Before Installation . . . . . . . . . . 1-3
Unpacking Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
System Mounting Requirements. . . . . . . . . . . . . . . . . . . 1-3
Ventilation Requirements . . . . . . . . . . . . . . . . . . . . . . . 1-4
Sizing an Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Transformer Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Fuse Sizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Bonding Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Bonding Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Bonding Multiple Subpanels . . . . . . . . . . . . . . . . . . . . . 1-9
Mounting Your Ultra3000 Drive . . . . . . . . . . . . . . . . . . . . 1-10
Chapter 2
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Understanding Ultra3000 Connectors . . . . . . . . . . . . . . . . . 2-1
Ultra3000 Front Panel Connections . . . . . . . . . . . . . . . . 2-2
Ultra3000 (with SERCOS) Front Panel Connections. . . . 2-10
Ultra3000 (with DeviceNet) Front Panel Connections . . 2-18
I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Digital I/O Power Supply . . . . . . . . . . . . . . . . . . . . . . 2-26
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Analog COMMAND Input . . . . . . . . . . . . . . . . . . . . . . 2-29
Analog ILIMIT Input . . . . . . . . . . . . . . . . . . . . . . . . . . 2-30
Analog Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
Auxiliary +5V Logic Supply . . . . . . . . . . . . . . . . . . . . . 2-32
Understanding Motor Encoder Feedback Specifications . . . 2-33
AM, BM, and IM Inputs. . . . . . . . . . . . . . . . . . . . . . . . 2-33
Hall Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Publication 2098-IN003C-EN-P — July 2001
ii Table of Contents
Connecting Your Ultra3000
Thermostat Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
+ Limit and - Limit Inputs . . . . . . . . . . . . . . . . . . . . . . 2-36
Encoder Phasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-37
Motor Encoder Connection Diagram . . . . . . . . . . . . . . 2-38
Unbuffered Motor Encoder Outputs . . . . . . . . . . . . . . . 2-39
Buffered Motor Encoder Outputs . . . . . . . . . . . . . . . . . 2-39
Understanding Auxiliary Encoder Feedback Specifications . 2-40
Understanding the Serial Interface. . . . . . . . . . . . . . . . . . . 2-41
Default Serial Interface Settings . . . . . . . . . . . . . . . . . . 2-42
Restoring Drive Communications . . . . . . . . . . . . . . . . . 2-42
Chapter 3
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Understanding Basic Wiring Requirements . . . . . . . . . . . . . 3-1
Building Your Own Cables . . . . . . . . . . . . . . . . . . . . . . 3-2
Routing High and Low Voltage Cables . . . . . . . . . . . . . . 3-3
Grounding Your Ultra3000 . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Grounding Your System to the Subpanel . . . . . . . . . . . . 3-4
Grounding Multiple Subpanels . . . . . . . . . . . . . . . . . . . 3-5
Motor Power Cable Shield Termination . . . . . . . . . . . . . 3-5
Wiring Your Ultra3000 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Connecting Interface Cables . . . . . . . . . . . . . . . . . . . . . 3-7
Connecting Your SERCOS Fiber Optic Cables. . . . . . . . . 3-8
Connecting to a DeviceNet Network . . . . . . . . . . . . . . 3-10
Connecting Your DeviceNet Cable. . . . . . . . . . . . . . . . 3-11
Wiring Power Connections . . . . . . . . . . . . . . . . . . . . . 3-12
Appendix A
Specifications and Dimensions
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Ultra3000 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
General Power Specifications . . . . . . . . . . . . . . . . . . . . A-1
Physical and Environmental. . . . . . . . . . . . . . . . . . . . . . A-4
Power Dissipation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Serial Communication . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Auxiliary Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
SERCOS Communication . . . . . . . . . . . . . . . . . . . . . . . . A-7
DeviceNet Communication . . . . . . . . . . . . . . . . . . . . . . A-7
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
Publication 2098-IN003C-EN-P — July 2001
Table of Contents iii
Interconnect Diagrams
Appendix B
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Ultra3000 to ControlLogix Cable and Interconnect Diagrams B-1
Ultra3000 and Motor Cable Diagrams . . . . . . . . . . . . . . . . . B-3
Ultra3000 Drive and Motor Cable Combinations . . . . . . . B-3
Ultra3000 to Motor Interconnect Diagrams . . . . . . . . . . . B-4
Ultra3000 Power Wiring Diagrams . . . . . . . . . . . . . . . . . . B-12
Start/Stop String Configuration Diagram Examples . . . . . . B-17
24V dc Start/Stop String Examples . . . . . . . . . . . . . . . . B-17
120V ac Start/Stop String Examples . . . . . . . . . . . . . . . B-20
Controlling a Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-22
Grounding for Ultra3000 CE Requirements . . . . . . . . . . . . B-24
Ultra3000 to Shunt Module Interconnect Diagrams . . . . . . B-25
Ultra3000 to 300W Active Shunt Module . . . . . . . . . . . B-25
Ultra3000 to 200W Passive Shunt Module . . . . . . . . . . B-26
Ultra3000 to 900W Passive Shunt Module . . . . . . . . . . B-27
Ultra3000 to Two 900W Passive Shunt Module. . . . . . . B-28
Appendix C
Catalog Numbers and Accessories
Chapter Objectives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Ultra3000 Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Ultraware Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
AC Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
External Shunt Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
Motor Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
SERCOS Interface Fiber Optic Cables. . . . . . . . . . . . . . . C-4
Motor Feedback Cables . . . . . . . . . . . . . . . . . . . . . . . . C-5
Ultra3000 Interface Cables. . . . . . . . . . . . . . . . . . . . . . . C-5
Mating Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . C-6
Break Out Boards, Cables, and Kits . . . . . . . . . . . . . . . . C-7
MP-Series Motor Brake Cable . . . . . . . . . . . . . . . . . . . . C-7
Publication 2098-IN003C-EN-P — July 2001
iv Table of Contents
Publication 2098-IN003C-EN-P — July 2001
1
Preface
Introduction
Who Should Use this
Manual
Read this preface to familiarize yourself with the rest of the manual.
This preface contains the following topics:
•
Who should use this manual
•
Purpose of this manual
•
Contents of this manual
•
Related documentation
•
Conventions used in this manual
•
Product receiving and storage responsibility
•
Allen-Bradley support
Use this manual for designing, installing, and wiring your Ultra3000
Digital Servo Drive (DSD). The manual is intended for engineers or technicians directly involved in the installation and wiring of the
Ultra3000.
If you do not have a basic understanding of the Ultra3000, contact your local Allen-Bradley representative for information on available training courses before using this product.
Purpose of this Manual
This manual provides the mounting, wiring, and connecting procedures for the Ultra3000 and standard Rockwell Automation/
Allen-Bradley motors recommended for use with the Ultra3000.
For troubleshooting and system integration with the ControlLogix
SERCOS interface
module (1756-M08SE) or motion module
(1756-M02AE), refer to the Ultra3000 Digital Servo Drives Integration
Manual (publication 2098-IN005x-EN-P). This manual is available at
TheAutomationBookstore.com electronically (as a .pdf) or in hardcopy.
Publication 2098-IN003C-EN-P — July 2001
P-2
Preface
Contents of this Manual
Refer to the following listing for the descriptive contents of this installation manual.
Chapter
1
2
3
Title
Appendix A
Appendix B
Appendix C
Contents
Describes the purpose, background, and scope of this manual. Also specifies the audience for whom this manual is intended.
Provides mounting information for the Ultra3000.
Provides I/O, encoder, and serial interface connector locations and signal descriptions.
Provides connection and wiring information for the Ultra3000.
Provides physical, electrical, environmental, and functional specifications for the Ultra3000.
Provides interconnect diagrams for the
Ultra3000.
Provides catalog numbers and descriptions of the
Ultra3000 and related products.
Related Documentation
The following documents contain additional information concerning related Allen-Bradley products. To obtain a copy, contact your local
Allen-Bradley office or distributor.
For:
Information on configuring and troubleshooting your
Ultra3000
Ultraware
Installation Instructions
Information on configuring your Ultra3000 using
Ultraware
More detailed information on the use of ControlLogix motion features and application examples
ICP 8 Axis SERCOS interface module installation instructions
The instructions needed to program a motion application
Information on configuring and troubleshooting your
ControlLogix motion module
Information on communicating with the Ultra3000 using DeviceNet
Information on attaching Ultra3000 drives to a
DeviceNet network
Read This Document:
Ultra3000 Digital Servo Drives Integration Manual
2098-IN005x-EN-P
Ultraware CD Installation Instructions
Ultraware User Manual
ControlLogix Motion Module Programming Manual
1756-RM086x-EN-P
ICP 8 Axis SERCOS interface Module Installation
Instructions
Logix5000 Controller Motion Instruction Set
Reference Manual
ControlLogix Motion Module Setup and
Configuration Manual
Ultra3000 DeviceNet Reference Manual
DeviceNet Cable System Planning and Installation
Manual
Catalog Number:
2098-IN002x-EN-P
2098-UM001x-EN-P
1756-IN572x-EN-P
1756-RM007x-EN-P
1756-UM006x-EN-P
2098-RM001x-EN-P
DN-6.7.2
Publication 2098-IN003C-EN-P — July 2001
Preface P-3
Conventions Used in this
Manual
The following conventions are used throughout this manual.
•
Bulleted lists such as this one provide information, not procedural steps
•
Numbered lists provide sequential steps or hierarchical information
•
Words that you type or select appear in bold
•
When we refer you to another location, the section or chapter name appears in italics
Product Receiving and
Storage Responsibility
You, the customer, are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company.
Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment.
Store the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store using the following guidelines.
•
Use a clean, dry location
•
Maintain an ambient temperature range of -40 to 70° C
(-40 to 158° F)
•
Maintain a relative humidity range of 5% to 95%, non-condensing
•
Store it where it cannot be exposed to a corrosive atmosphere
•
Store it in a non-construction area
Allen-Bradley Support
Allen-Bradley offers support services worldwide, with over 75 Sales/
Support Offices, 512 authorized Distributors and 260 authorized
Systems Integrators located throughout the United States alone, plus
Allen-Bradley representatives in every major country in the world.
Publication 2098-IN003C-EN-P — July 2001
P-4
Preface
Local Product Support
Contact your local Allen-Bradley representative for:
•
Sales and order support
•
Product technical training
•
Warranty support
•
Support service agreements
Technical Product Assistance
If you need technical assistance, call your local Allen-Bradley representative or Rockwell Automation Technical Support at
(440)-646-5800. Please have the catalog numbers of your products available when you call.
Publication 2098-IN003C-EN-P — July 2001
Chapter
1
Installing Your Ultra3000
Chapter Objectives
This chapter provides system installation guidelines and procedures for mounting your Ultra3000. This chapter covers the following topics:
•
Complying with European Union directives
•
Before mounting your system
•
Bonding your system
•
Mounting your Ultra3000 drive
ATTENTION
!
The following information is a guideline for proper installation. The National Electrical Code and any other governing regional or local codes overrule this information. The Allen-Bradley Company cannot assume responsibility for the compliance or the noncompliance with any code, national, local or otherwise, for the proper installation of this system or associated equipment. If you ignore codes during installation, hazard of personal injury and/or equipment damage exists.
1
Complying with European
Union Directives
If this product is installed within the European Union or EEC regions and has the CE mark, the following regulations apply.
EMC Directive
This unit is tested to meet Council Directive 89/336/EEC
Electromagnetic Compatibility (EMC) using a technical construction file and the following standards, in whole or in part:
•
EN 50081-2 EMC - Emission Standard, Part 2 - Industrial
Environment
•
EN 50082-2 EMC - Immunity Standard, Part 2 - Industrial
Environment
•
EN 61800-3 - Adjustable Speed Electrical Power Drive Systems,
Part 3 - EMC Product Standard including specific test methods
Publication 2098-IN003C-EN-P — July 2001
1-2
Installing Your Ultra3000
Before Mounting Your
System
The product described in this manual is intended for use in an industrial environment.
To meet CE requirements, the following additions are required:
•
Install a power line filter between the AC power source and the
drive input, as close to the drive as possible (refer to Appendix C
for available AC line filters).
•
Terminate the motor power cable shield to the chassis clamp provided.
•
To meet CE requirements, the following additions may also be required:
•
Run single-phase input wiring in a conduit that is grounded to the enclosure.
•
Terminate the shields of the motor power cables and the motor feedback cables to the enclosure at the point of entry.
Low Voltage Directive
These units are tested to meet Council Directive 73/23/EEC Low
Voltage Directive. The EN 60204-1 Safety of Machinery-Electrical
Equipment of Machines, Part 1-Specification for General Requirements standard applies in whole or in part. Additionally, the standard
EN 50178 Electronic Equipment for use in Power Installations applies in whole or in part.
Refer to Appendix B for interconnect information.
Before you mount your Ultra3000 system make sure you understand the following:
• how to store your Ultra3000 before installation
• how to unpack the system
• the minimum mounting requirements
Publication 2098-IN003C-EN-P — July 2001
Installing Your Ultra3000 1-3
Storing Your Ultra3000 Before Installation
The Ultra3000 should remain in the shipping container prior to installation. If the equipment is not to be used for a period of time, store it as follows:
•
Use a clean, dry location
•
Maintain an ambient temperature range of -40 to 70° C
(-40 to 158° F)
•
Maintain a relative humidity range of 5% to 95%, non-condensing
•
Store it where it cannot be exposed to a corrosive atmosphere
•
Store it in a non-construction area
Unpacking Modules
Each Ultra3000 ships with the following:
•
One Ultra3000 drive
•
One installation manual (publication 2098-IN003x-EN-P)
•
One reference manual (publication 2098-RM001x-EN-P) for
Ultra3000 drives with DeviceNet
Remove all packing material, wedges, and braces from within and around the components. After unpacking, check the item(s) name plate catalog number against the purchase order.
System Mounting Requirements
There are several things that you need to take into account when preparing to mount the Ultra3000:
•
The Ultra3000 must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529
(IEC 529) to IP55 such that they are not accessible to an operator or unskilled person, in order to comply with UL
and CE requirements. A NEMA 4X enclosure exceeds these requirements providing protection to IP66.
•
The ambient temperature of the location in which you will install the Ultra3000 must not exceed 55° C (131° F).
Publication 2098-IN003C-EN-P — July 2001
1-4
Installing Your Ultra3000
•
You must install the panel on a flat, rigid, vertical surface that won’t be subjected to shock, vibration, moisture, oil mist, dust, or corrosive vapors.
•
You need to maintain minimum clearances (refer to Figure 1.1) for
proper airflow, easy module access, and proper cable bend radius.
Refer to Appendix A for mounting dimensions, power dissipation, and
environmental specifications for the Ultra3000.
Ventilation Requirements
This section provides information to assist you in sizing your cabinet and locating your Ultra3000 drive(s) inside the cabinet.
Figure 1.1
Minimum Clearance Requirements
50.8 mm (2.0 in.) clearance for airflow and installation
Allow 12.7 mm (0.5 in.) side clearance
Motor cable entry area for ground clamp
50.8 mm (2.0 in.) clearance for airflow and installation
Allow 12.7 mm (0.5 in.) side clearance
Minimum cabinet depth = 243.8 mm (9.6 in.)
Minimum front clearance = 76.2 mm (3.0 in.)
IMPORTANT
If the cabinet is ventilated, use filtered or conditioned air to prevent the accumulation of dust and dirt on electronic components. The air should be free of oil, corrosives, or electrically conductive contaminates.
Refer to Appendix A for Ultra3000 power dissipation specifications.
Publication 2098-IN003C-EN-P — July 2001
Installing Your Ultra3000 1-5
Sizing an Enclosure
As an additional aid in sizing an enclosure, with no active method of heat dissipation, either of the following approximate equations can be used:
Metric Standard English
A
=
1.8T – 1.1
A
=
T
– 1.1
Where T is temperature difference between inside air and outside ambient (°C), Q is heat generated in enclosure (Watts), and A is enclosure surface area (m
2
). The exterior surface of all six sides of an enclosure is calculated as
A = 2dw + 2dh + 2wh
Where d (depth), w (width), and h (height) are in meters.
Where T is temperature difference between inside air and outside ambient (°F), Q is heat generated in enclosure (Watts), and A is enclosure surface area (ft²). The exterior surface of all six sides of an enclosure is calculated as
A = (2dw + 2dh + 2wh) / 144
Where d (depth), w (width), and h (height) are in inches.
Transformer Sizing
The Ultra3000 does not require isolation transformers. However, a transformer may be required to match the voltage requirements of the controller to the available service. To size a transformer for the main
AC power inputs, the power output (KVA) of each axis must be known. This can be derived by calculating the horsepower for each axis and converting that horsepower into units of watts. If you are supplying power to more than one motor and an Ultra3000, simply add the kW ratings together from each calculation to get a system kW total.
IMPORTANT
If using an autotransformer, ensure that the phase to neutral/ground voltages do not exceed the input voltage ratings of the drive.
Definitions: kW = power or real power
KVA = apparent power
Transformer KVA rating = (Sum of average output power of each axis) x 2.0.
Publication 2098-IN003C-EN-P — July 2001
1-6
Installing Your Ultra3000
IMPORTANT
If you are using the Rockwell Automation/
Allen-Bradley system sizing program, the average speed and average torque data has already been calculated and can be used in the above equation. If you are not sure of the exact speed and torque in your application, another approach is to look at the speed/torque curve for your Ultra3000/motor combination and use the values for the worst case continuous speed and torque.
IMPORTANT
Calculations are multiplied by a factor to compensate for the power and loss elements within a power system. A factor of 2.0 is used with a single phase system and a factor of 1.5 is used with a three phase system. This factor should minimize the effects of the secondary line voltage sagging in the transformer during peak current periods.
Example: sizing a transformer to the voltage requirements of an
2098-DSD-020 and MPL-A320P motor:
Intro
KVA =
KVA =
(
)
xTorque lb
–
in
)
) (
–
in
)
HP 1000Watts
Transformer Size = 2.1 KVA
Intro
The speed/torque curve information for 230V motors is based upon an Ultra3000 input voltage of 230V ac. For a 115V ac input voltage, the maximum speed can be reduced up to one half.
Intro
Intro
Intro
Intro
Intro
Intro
Intro
Intro
Intro
Publication 2098-IN003C-EN-P — July 2001
Installing Your Ultra3000 1-7
Fuse Sizing
The Ultra3000 is listed by Underwriters Laboratories, Inc. with fuses sized as four times the continuous output current of the drives (FLA), according to UL 508C.
In most cases, fuses selected to match the drive input current rating will meet the NEC requirements and provide the full drive capabilities.
Dual element, time delay (slow acting) fuses should be used to avoid nuisance trips during the inrush current of power initialization. Refer
to the section General Power Specifications in Appendix A for input
current and inrush current specifications.
The Ultra3000 utilizes solid state motor short circuit protection rated as shown in the table below.
Drive Models:
2098-DSD-xxx-xx or xxxX-xx
2098-DSD-HVxxx-xx or
HVxxxX-xx
Short Circuit Current Rating with No Fuse
Restrictions:
Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes,
240V maximum.
Short Circuit Current Rating with Fuse
Restrictions:
Suitable for use on a circuit capable of delivering not more than 200,000 rms symmetrical amperes, 240V maximum, when protected by high interrupting capacity, current limiting fuses
(Class CC, G, J, L, R, T).
Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes,
480V maximum.
Suitable for use on a circuit capable of delivering not more than 200,000 rms symmetrical amperes, 480V maximum, when protected by high interrupting capacity, current limiting fuses
(Class CC, G, J, L, R, T).
Bonding Your System
Bonding is the practice of connecting metal chassis, assemblies, frames, shields and enclosures to reduce the effects of electromagnetic interference (EMI).
Bonding Modules
Unless specified, most paints are not conductive and they act as insulators. To achieve a good bond between modules and the subpanel, surfaces need to be paint-free or plated. Bonding metal surfaces creates a low-impedance exit path for high-frequency energy.
Improper bonding blocks that direct exit path and allows high-frequency energy to travel elsewhere in the cabinet. Excessive high-frequency energy can effect the operation of other microprocessor controlled equipment. The illustrations that follow
(refer to Figure 1.2) show details of recommended bonding practices
for painted panels, enclosures, and mounting brackets.
Publication 2098-IN003C-EN-P — July 2001
1-8
Installing Your Ultra3000
Subpanel
Star washer
Nut
Figure 1.2
Recommended Bonding Practices
Stud-mounting the subpanel to the enclosure back wall
Back wall of enclosure
Stud-mounting a ground bus or chassis to the subpanel
Subpanel
Mounting bracket or ground bus
Welded stud
Flat washer
Welded stud
Use a wire brush to remove paint from threads to maximize ground connection.
Use plated panels or scrape paint on front of panel.
Nut
Star washer
Flat washer
Scrape paint
If the mounting bracket is coated with a non-conductive material (anodized, painted, etc.), scrape the material around the mounting hole.
Bolt-mounting a ground bus or chassis to the back-panel
Subpanel
Bolt
Tapped hole
Ground bus or mounting bracket
Nut
Flat washer
Nut
Flat washer
Star washer
Scrape paint on both sides of panel and use star washers.
Star washer
Star washer
If the mounting bracket is coated with a non-conductive material (anodixed, painted, etc.), scrape the material around the mounting hole.
Publication 2098-IN003C-EN-P — July 2001
Installing Your Ultra3000 1-9
Bonding Multiple Subpanels
Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet. Subpanels that are not bonded together may not share a common low impedance path. This difference in impedance may affect networks and other devices that span multiple panels. Refer to the figure below for recommended bonding practices.
Figure 1.3
Multiple Subpanels and Cabinet
Recommended:
Bond the top and bottom of each subpanel to the cabinet using
25.4 mm (1.0 in.) by 6.35 mm (0.25 in.) wire braid.
Bonded cabinet ground bus to subpanel
Scrape the paint around each fastener to maximize metal to metal contact.
Publication 2098-IN003C-EN-P — July 2001
1-10
Installing Your Ultra3000
Mounting Your Ultra3000
Drive
The procedures in this section assume you have prepared your panel and understand how to bond your system. For installation instructions regarding other equipment and accessories, refer to the instructions that came with each of the accessories for their specific requirements.
ATTENTION
!
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication
8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.
To mount your Ultra3000 drive:
1. Layout the positions for the Ultra3000 and accessories in the enclosure. Mounting hole dimensions for the Ultra3000 are shown
2. Attach the Ultra3000 to the cabinet, first using the upper mounting slots of the drive and then the lower. The recommended mounting hardware is M5 metric (1/4-20) or #10 MS bolts. Observe bonding
techniques as described in Bonding Your System.
3. Tighten all mounting fasteners.
Publication 2098-IN003C-EN-P — July 2001
Chapter
2
Ultra3000 Connector Data
1
Chapter Objectives
This chapter provides I/O, encoder, and serial interface connector locations and signal descriptions for your Ultra3000. This chapter includes:
•
Understanding Ultra3000 connectors
•
Understanding Ultra3000 I/O specifications
•
Understanding motor encoder feedback specifications
•
Understanding auxiliary encoder feedback specifications
•
Understanding the serial interface
Understanding Ultra3000
Connectors
The following table provides a brief description of the Ultra3000 front panel connectors and describes the connector type.
Designator
CN1
CN2
CN3
TB
TB1
TB2
Description
User Input/Output
Motor Feedback
Serial Port
DC bus, Motor and
AC power
DC bus, Motor, AC power, and auxiliary
AC power
Shunt
Connector
44-pin high-density D-shell
15-pin high-density D-shell
9-pin standard D-shell
9-position screw style barrier terminal strip
(2098-DSD-005x-xx, -010x-xx, and -020x-xx)
11- or 12-position screw style barrier terminal strip (2098-DSD-030x-xx, -075x-xx, -150x-xx,
HVxxx-xx, and HVxxxX-xx)
3-position screw style barrier terminal strip
(2098-DSD-030x-xx, -075x-xx, -150x-xx,
HVxxx-xx, and HVxxxX-xx)
All signal connections on the Ultra3000 use commonly available
D-shell type connectors.
For connector pin-outs and the location of connectors, switches, and status LEDs on:
2098-DSD-xxx and -HVxxx Ultra3000 drives
2098-DSD-xxx and -HVxxx Ultra3000 drives with
SERCOS interface
2098-DSD-xxx and -HVxxx Ultra3000 drives with
DeviceNet interface
Refer to:
Figures 2.1-2.4 and the tables that follow on
Figures 2.5-2.8 and the tables that follow on
Figures 2.9-2.12 and the tables that follow
Publication 2098-IN003C-EN-P — July 2001
2-2
Ultra3000 Connector Data
Ultra3000 Front Panel Connections
Use the figure below to locate the front panel connections on the
Ultra3000 230V drives (500W, 1 kW, and 2 kW).
Figure 2.1
Ultra3000 Front Panel Connections for 2098-DSD-005, -005X, -010, -010X, -020, and -020X
Seven Segment
Status LED
DC Bus Connections for
Active Shunt Resistor Kit
AC Input Power
Connections
Motor Power
Connections
Logic Power LED
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-3
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Auxiliary Logic Power In (+5V)
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
AUXPWR
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Reserved
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
–
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-4
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 230V drives (3 kW).
Figure 2.2
Ultra3000 Front Panel Connections for 2098-DSD-030 and -030X
Passive Shunt
Resistor Connections
Internal
External
Shunt
TB2
1
2
3
Seven Segment
Status LED
Logic Power LED
Motor Power
Connections
AC Input Power
Connections
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
+
-
L1
L2/N
L1
AUX
L2/N
AUX
U
V
W
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-5
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-6
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 230V (7.5 and 15 kW).
Figure 2.3
Ultra3000 Front Panel Connections for 2098-DSD-075, -075X, -150, and -150X
Passive Shunt
Resistor Connections
Internal
External
Shunt
TB2
1
2
3
Seven Segment
Status LED
Logic Power LED
Motor Power
Connections
AC Input Power
Connections
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
-
+
L1
L2
L3
L1
AUX
L2/N
AUX
U
V
W
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
5
6
7
8
9
2
3
4
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
COM
–
RCV-
XMT-
–
Signal
RCV+
RCV
XMT
XMT+
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-7
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-8
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 460V drives (3W, 5 kW, 10 kW, 15 kW, and 22 kW).
Figure 2.4
Ultra3000 Front Panel Connections for 2098-DSD-HVxxx and HVxxxX
Seven Segment
Status LED
Logic Power LED
Passive Shunt
Resistor Connections
Motor Power
Connections
AC Input Power
Connections
TB2
Hazardous voltage exists after power down.
1
2
3
+
-
W
V
U
L3
L2
L1
L1
AUX
L2
AUX
TB1
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-9
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-10
Ultra3000 Connector Data
Ultra3000 (with SERCOS) Front Panel Connections
Use the figure below to locate the front panel connections on the
Ultra3000 with SERCOS interface 230V drives (500W, 1 kW, and 2 kW).
Figure 2.5
Ultra3000 Front Panel Connections for 2098-DSD-005-SE, -010-SE, and -020-SE
Seven Segment
Status LED
Logic Power LED
DC Bus Connections for
Active Shunt Resistor Kit
AC Input Power
Connections
Module
Status LED
Network
Status LED
CN3 9-pin
Serial Port
Connector
Node Address
Switches
CN2 15-pin
Motor Encoder
Connector
Data Rate
Switch
Motor Power
Connections
SERCOS Interface
Receive (Rx) and
Transmit (Tx)
Connectors
CN1 44-pin
User I/O
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-11
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Auxiliary Logic Power In (+5V)
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
AUXPWR
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Drive Enable Input
Home Sensor Input
Registration Sensor 1 Input
Registration Sensor 2 Input
Reserved
Reserved
Positive Overtravel Input
Negative Overtravel Input
Reserved
Reserved
Reserved
Reserved
Brake Relay Output+
Brake Relay Output-
–
–
OT_NEG
–
–
BRAKE+
BRAKE-
IOPWR
ENABLE
HOME
REG1
REG2
–
–
OT_POS
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Reserved
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
–
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-12
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 with SERCOS interface 230V drive (3 kW).
Figure 2.6
Ultra3000 Front Panel Connections for 2098-DSD-030-SE
Passive Shunt
Resistor Connections
Internal
External
Shunt
TB2
1
2
3
Motor Power
Connections
AC Input Power
Connections
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
+
-
L1
L2/N
L1
AUX
L2/N
AUX
U
V
W
Seven Segment
Status LED
Logic Power LED
Module Status LED
Network Status LED
Node Address
Switches
Data Rate
Switch
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
SERCOS interface
Receive (Rx) and
Transmit (Tx)
Connectors
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-13
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Drive Enable Input
Home Sensor Input
Registration Sensor 1 Input
Registration Sensor 2 Input
Reserved
Reserved
Positive Overtravel Input
Negative Overtravel Input
Reserved
Reserved
Reserved
Reserved
Brake Relay Output+
Brake Relay Output-
–
–
OT_NEG
–
–
BRAKE+
BRAKE-
IOPWR
ENABLE
HOME
REG1
REG2
–
–
OT_POS
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-14
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 with SERCOS interface 230V drives (7.5 and 15 kW).
Figure 2.7
Ultra3000 Front Panel Connections for 2098-DSD-075-SE and -150-SE
Passive Shunt
Resistor Connections
Internal
External
Shunt
TB2
1
2
3
Motor Power
Connections
AC Input Power
Connections
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
+
L2
L3
-
L1
L1
AUX
L2/N
AUX
U
V
W
Seven Segment
Status LED
Logic Power LED
Module Status LED
Network Status LED
Node Address
Switches
Data Rate
Switch
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
SERCOS interface
Receive (Rx) and
Transmit (Tx)
Connectors
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-15
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Drive Enable Input
Home Sensor Input
Registration Sensor 1 Input
Registration Sensor 2 Input
Reserved
Reserved
Positive Overtravel Input
Negative Overtravel Input
Reserved
Reserved
Reserved
Reserved
Brake Relay Output+
Brake Relay Output-
–
–
OT_NEG
–
–
BRAKE+
BRAKE-
IOPWR
ENABLE
HOME
REG1
REG2
–
–
OT_POS
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-16
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 with SERCOS interface 460V drives (3 kW, 5 kW, 10 kW,
15 kW, and 22 kW).
Figure 2.8
Ultra3000 Front Panel Connections for 2098-DSD-HVxxx-SE
Passive Shunt
Resistor Connections
Motor Power
Connections
AC Input Power
Connections
TB2
Hazardous voltage exists after power down.
1
2
3
W
V
U
+
-
L3
L2
L1
L1
AUX
L2
AUX
TB1
Seven Segment
Status LED
Logic Power LED
Module Status LED
Network Status LED
Node Address
Switches
Data Rate
Switch
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
SERCOS interface
Receive (Rx) and
Transmit (Tx)
Connectors
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-17
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Drive Enable Input
Home Sensor Input
Registration Sensor 1 Input
Registration Sensor 2 Input
Reserved
Reserved
Positive Overtravel Input
Negative Overtravel Input
Reserved
Reserved
Reserved
Reserved
Brake Relay Output+
Brake Relay Output-
–
–
OT_NEG
–
–
BRAKE+
BRAKE-
IOPWR
ENABLE
HOME
REG1
REG2
–
–
OT_POS
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-18
Ultra3000 Connector Data
Ultra3000 (with DeviceNet) Front Panel Connections
Use the figure below to locate the front panel connections on the
Ultra3000 with DeviceNet Interface 230V drives (500W, 1 kW, and 2 kW).
Figure 2.9
Ultra3000 Front Panel Connections for 2098-DSD-005-DN, -005X-DN, -010-DN, -010X-DN, -020-DN, and -020X-DN
Seven Segment
Status LED
DC Bus Connections for
Active Shunt Resistor Kit
AC Input Power
Connections
Logic Power LED
Module Status LED
Network Status LED
CN3 9-pin
Serial Port
Connector
Node Address
Switches
CN2 15-pin
Motor Encoder
Connector
Data Rate
Switch
Motor Power
Connections
DeviceNet Interface
Connector
CN1 44-pin
User I/O
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-19
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Auxiliary Logic Power In (+5V)
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
AUXPWR
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Reserved
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
–
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-20
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 with DeviceNet Interface 230V drives (3 kW).
Figure 2.10
Ultra3000 Front Panel Connections for 2098-DSD-030-DN and -030X-DN
Passive Shunt
Resistor Connections
Motor Power
Connections
AC Input Power
Connections
Internal
External
Shunt
TB2
1
2
3
Motor
U
V
W
DC Bus
+
-
L1
L2/N
100-240 VAC
50/60 Hz
TB1
L1
AUX
L2/N
AUX
DeviceNet
V-
Can_L
Shield
Can_H
V+
Seven Segment
Status LED
Logic Power LED
Module Status LED
Network Status LED
Node Address
Switches
Data Rate
Switch
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
DeviceNet Interface
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-21
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-22
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 with DeviceNet Interface 230V drives (7.5 and 15 kW).
Figure 2.11
Ultra3000 Front Panel Connections for 2098-DSD-075-DN, -075X-DN, -150-DN, and -150X-DN
Passive Shunt
Resistor Connections
Motor Power
Connections
AC Input Power
Connections
Internal
External
Shunt
TB2
1
2
3
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
L1
L2
L3
+
-
L1
AUX
L2/N
AUX
U
V
W
DeviceNet
V-
Can_L
Shield
Can_H
V+
Seven Segment
Status LED
Logic Power LED
Node Address
Switches
Data Rate
Switch
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
Module Status LED
Network Status LED
DeviceNet Interface
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-23
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-24
Ultra3000 Connector Data
Use the figure below to locate the front panel connections on the
Ultra3000 with DeviceNet Interface 460V drives (3 kW, 5 kW, 10 kW,
15 kW, and 22 kW).
Figure 2.12
Ultra3000 Front Panel Connections for 2098-DSD-HVxxx-DN and HVxxxX-DN
Passive Shunt
Resistor Connections
Motor Power
Connections
AC Input Power
Connections
(00-63, PGM)
TB2
Hazardous voltage exists after power down.
1
2
3
125kB
250kB
500kB
PGM
AUTO
W
V
U
+
-
TB1
L3
L2
L1
L1
AUX
L2
AUX
DeviceNet
V-
Can_L
Shield
Can_H
V+
Seven Segment
Status LED
Logic Power LED
Node Address
Switches
Data Rate
Switch
CN3 9-pin
Serial Port
Connector
CN2 15-pin
Motor Encoder
Connector
CN1 44-pin
User I/O
Connector
Module Status LED
Network Status LED
DeviceNet Interface
Connector
Serial Port Connector
The following table provides the signal descriptions and pin-outs for the CN3 serial port (9-pin) connector.
6
7
4
5
8
9
2
3
CN3 Pin Description
1 RS-422/RS-485 Input+
RS-232 Input
RS-232 Output
RS-422/RS-485 Output+
Common
Reserved
RS-422/RS-485 Input-
RS-422/RS-485 Output-
Reserved
Signal
RCV+
RCV
XMT
XMT+
COM
–
RCV-
XMT-
–
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-25
I/O Connector
The following table provides the signal descriptions and pin-outs for the CN1 I/O (44-pin) connector.
20
21
22
16
17
18
19
12
13
14
15
8
9
10
11
6
7
4
5
2
3
CN1 Pin Description
1 Auxiliary Encoder Power Out (+5V)
Common
Reserved
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch A+
Auxiliary Encoder Ch B+
Auxiliary Encoder CH B-
Auxiliary Encoder Ch I+
Auxiliary Encoder Ch I-
Unbuffered Motor Encoder Ch A+
Unbuffered Motor Encoder Ch A-
Unbuffered Motor Encoder Ch B+
Unbuffered Motor Encoder Ch B-
Unbuffered Motor Encoder Ch I+
Unbuffered Motor Encoder Ch I-
Buffered Motor Encoder Ch A+
Buffered Motor Encoder Ch A-
Buffered Motor Encoder Ch B+
Buffered Motor Encoder Ch B-
Buffered Motor Encoder Ch I+
Buffered Motor Encoder Ch I-
Common
BM+
BM-
IM+
IM-
IX+
IX-
AM+
AM-
AX+
AX-
BX+
BX-
Signal
EPWR
ECOM
–
AMOUT+
AMOUT-
BMOUT+
BMOUT-
IMOUT+
IMOUT-
ACOM
42
43
44
38
39
40
41
34
35
36
37
30
31
32
33
26
27
28
29
CN1 Pin Description
23 Programmable Analog Output
24
25
Analog Current Limit Input
Command +
Command -
I/O Common
I/O Common
I/O Power
I/O Power
Digital Input 1
Digital Input 2
Digital Input 3
Digital Input 4
Digital Input 5
Digital Input 6
Digital Input 7
Digital Input 8
Digital Output 1
Digital Output 2
Digital Output 3
Digital Output 4
Normally Open Relay Output+
Normally Open Relay Output-
INPUT8
OUTPUT1
OUTPUT2
OUTPUT3
OUTPUT4
RELAY+
RELAY-
IOPWR
INPUT1
INPUT2
INPUT3
INPUT4
INPUT5
INPUT6
INPUT7
Signal
AOUT
ILIMIT
COMMAND+
COMMAND-
IOCOM
IOCOM
IOPWR
Motor Encoder Connector
The following table provides the signal descriptions and pin-outs for the CN2 motor encoder (15-pin) connector.
6
7
4
5
8
2
3
CN2 Pin Description
1 Channel A+
Channel A-
Channel B+
Channel B-
Channel I+
Common
Encoder Power (+9V)
Commutation Channel S3
Signal
AM+
AM-
BM+
BM-
IM+
ECOM
EPWR_9V
S3
12
13
14
15
CN2 Pin Description
9 Positive Overtravel Limit
10
11
Channel I-
Thermostat
Commutation Channel S1
Commutation Channel S2
Encoder Power (+5V)
Negative Overtravel Limit
Signal
+LIMIT
IM-
TS
S1
S2
EPWR_5V
-LIMIT
Publication 2098-IN003C-EN-P — July 2001
2-26
Ultra3000 Connector Data
Understanding Ultra3000
I/O Specifications
A description of the Ultra3000 input/output is provided on the following pages.
Digital I/O Power Supply
All Ultra3000 drives require an external 12-24V power supply for proper operation of the digital I/O. The following table provides a description of the digital I/O power supply.
Parameter
I/O Power Supply voltage
I/O Power Supply
Current
Description
Voltage range of the external power supply for proper operation of the digital I/O
Current draw from the external power supply for the digital I/O, not including the relay output usage.
Minimum Maximum
10.8V
—
26.4V
300 mA
Digital Inputs
There are eight opto-isolated digital inputs. On non-SERCOS drives, any input can be configured for a variety of functions using Ultraware.
On SERCOS drives, the following inputs have dedicated functionality.
IMPORTANT
Overtravel limit input devices must be normally closed.
Pin
CN1-31
Signal
ENABLE
CN1-32 HOME
CN1-33
CN1-34
CN1-37
CN1-38
REG1
REG2
OT_POS
OT_NEG
Description
Drive Enable Input, an active state enables the power electronics to control the motor.
Home Sensor, an active state indicates to a homing sequence that the sensor has been seen.
Registration Sensor, a transition is used to record position values.
Overtravel Input, an inactive state indicates that a position limit has been exceeded.
All digital inputs have the same configuration, as shown in Figure
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-27
Figure 2.13
Digital Input Circuit
2.7k
Ω
+5V
10k
Ω
INPUTS
1k
Ω
TLP121
IOCOM IOCOM
DGND
The following table provides a description of the digital input specifications.
Parameter
ON State Voltage
ON State Current
OFF State Voltage
Propagation Delay
Description
Voltage applied to the input, with respect to
IOCOM, to guarantee an ON state.
Current flow to guarantee an ON State
Voltage applied to the input, with respect to
IOCOM, to guarantee an OFF state.
Signal propagation delay from the digital input to the firmware-accessible registers.
Minimum Maximum
10.8.V
3.0 mA
-1.0V
—
26.4V
12.0 mA
3.0V
100
µ
S
Digital Outputs
There are four opto-isolated transistor outputs that can be configured for a variety of functions through software. Additionally, the drive has a relay output with normally open contacts. On SERCOS drives, the relay output is dedicated as a Brake output, where closed contacts release a motor brake.
The configuration of the transistor outputs is shown in Figure 2.14,
and the configuration of the relay output is shown in Figure 2.15.
IMPORTANT
There is no overload protection on the transistor outputs.
Figure 2.14
Transistor Output Hardware Configuration
200
Ω
IOPWR
+5V
OUTPUT
TLP127
OUT
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Ultra3000 Connector Data
The following table provides a description of the digital output specifications.
Parameter Description
ON State
Current
Current flow when the output transistor is ON
OFF State
Current
ON State
Voltage
OFF State
Voltage
Current flow when the output transistor is OFF
Voltage across the output transistor when ON
Voltage across the output transistor when OFF
Minimum Maximum
— 50 mA
—
—
—
0.1 mA
1.5V
50V
Figure 2.15
Relay Output Hardware Configuration
CN1-43
Relay +
Normally
Open
Relay
CN1-44
Relay -
The following table provides a description of the relay output specifications.
Parameter Description
ON State
Current
Current flow when the relay is closed
ON State
Resistance
OFF State
Voltage
Contact resistance when the relay is closed
Voltage across the contacts when the relay is open
Minimum Maximum
— 1A
— 1
Ω
— 30V
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-29
Analog COMMAND Input
The COMMAND input to the drive can provide a position, velocity, or current command signal. A 14 bit A/D converter digitizes the signal.
The configuration of the input is shown in Figure 2.16.
Figure 2.16
Analog COMMAND Input Configuration
10k
Ω
10k
Ω
1000 pF
20k
Ω
COMMAND +
10k
Ω
0.01
µ
F
10k
Ω
COMMAND -
0.01
µ
F
1000 pF
20k
Ω
The following table provides a description of the analog COMMAND input specifications.
Parameter Description
Resolution
Input
Impedance
Number of states that the input signal is divided into which is 2
(to the number of bits)
.
Open circuit impedance measured between the + and
- inputs.
Input Signal
Range
Voltage applied to the input
Offset Error
Gain Error
Propagation
Delay
Deviation from the correct value expected from analog-to-digital conversion when 0V is applied to the input.
Deviation of the transfer function from unity gain, expressed in a percent of full scale.
Delay from the input to the firmware-accessible registers.
Minimum Maximum
14 bits
20 k
Ω
-10V
—
—
—
—
—
+10V
50 mV
1%
100
µ
S
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2-30
Ultra3000 Connector Data
Analog ILIMIT Input
The ILIMIT input specifies to the drive if the drive output current should be limited. If the ILIMIT input is not connected, current is not limited. A 10 bit A/D converter digitizes the signal. The configuration
of the ILIMIT input is shown in Figure 2.17.
The input range is 0 to 10V, and the drive current is limited inversely proportional to the input voltage. A +10V input corresponds to no current limiting, and a 0V input prevents any drive current.
Figure 2.17
Analog ILIMIT Input Configuration
+15 V
10k
Ω
20k
Ω
ILIMIT
0.01
µ
F
20k
Ω
The following table provides a description of the analog ILIMIT input specifications.
Parameter Description
Resolution
Number of states that the input signal is divided into which is 2
(to the number of bits)
.
Input
Impedance
Input Signal
Range
Open circuit impedance measured between the input and analog common.
Voltage applied to the input
Offset Error
Gain Error
Propagation
Delay
Deviation from the correct value expected from analog-to-digital conversion when 0V is applied to the input.
Deviation of the transfer function from unity gain, expressed in a percent of full scale.
Delay from the input to the firmware-accessible registers.
Minimum Maximum
10 bits
10 k
Ω
0V
—
—
—
—
—
+10V
50 mV
1%
100
µ
S
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-31
Analog Output
The Ultra3000 includes a single analog output that can be configured
through software to represent drive variables. Figure 2.18 shows the
configuration of the analog output. The following table provides a description of the analog output.
Figure 2.18
Analog Output Configuration
AOUT
100
Ω
0.01
µ
F
IMPORTANT
Output values can vary during power-up until the specified power supply voltage is reached.
The following table provides a description of the analog output specifications.
Parameter Description
Resolution
Number of states that the output signal is divided into, which is 2
(to the number of bits)
.
Output
Current
Current capability of the output.
Output
Signal Range
Range of the output voltage.
Offset Error Deviation when the output should be at 0V.
Gain Error
Bandwidth
Deviation of the transfer function from unity gain, expressed in a percent of full scale.
Frequency response of the analog output
Minimum Maximum
8 Bits —
-2 mA
-10V
—
—
50 Hz
+2 mA
+10V
100 mV
5%
—
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Ultra3000 Connector Data
Auxiliary +5V Logic Supply
The Ultra3000 (2098-DSD-005, -010, and -020) control board and motor encoder can be powered separately from the AC input if necessary, using an external +5V dc power supply. If an auxiliary +5V dc logic supply is used, the AC input power can be removed and the motor position can still be monitored by the drive. Since the drive is able to monitor the motor position, additional homing sequences can be avoided when the AC input power is re-applied.
IMPORTANT
Only the 2098-DSD-005, -010, and -020 models support an auxiliary +5V logic supply since an auxiliary AC input is not available. Refer to the
chapter Connecting Your Ultra3000 for more
information on the auxiliary AC input.
The external +5V dc power supply must not be grounded inside the supply, since it will be referenced to the drive common. External
+5V DC power supply connections should be made to CN1-2 and
CN1-3.
The following table provides a description of the requirements for an external +5V dc power supply used to power the logic.
Parameter Description
Voltage Voltage tolerance of the external logic supply.
Current
Current output capability of the external +5V dc power supply.
Minimum Maximum
5.1V
5.25V
2.5A
—
IMPORTANT
Whenever the auxiliary +5V dc logic supply is used and the AC input supply is disconnected, the drive must be disabled. When the AC input supply is reconnected, the drive should not be re-enabled for at least 100 ms, to allow the power stage circuitry to fully charge.
IMPORTANT
Once the AC input supply is applied, the auxiliary
+5V dc logic supply must not be interrupted.
Removing the +5V dc logic supply with the AC input voltage applied will cause the drive to reboot and loss of control will occur.
Publication 2098-IN003C-EN-P — July 2001
Understanding Motor
Encoder Feedback
Specifications
+
-
1k
Ω
Ultra3000 Connector Data 2-33
The Ultra3000 can accept motor encoder signals from the following types of encoders:
•
Incremental encoders with TTL outputs, with or without Hall signals
•
Sine/Cosine encoders, with or without Hall signals
•
Intelligent absolute encoders
•
Intelligent high-resolution encoders
•
Intelligent incremental encoders
Note: The intelligent absolute, high-resolution, and incremental encoders are available only in Allen-Bradley motors.
1k
Ω
56 pF
1k
Ω
1k
Ω
1k
Ω
56 pF
1k
Ω
56 pF
1k
Ω
56 pF
100 pF
AM, BM, and IM Inputs
AM, BM, and IM Input encoder signals are filtered using analog and digital filtering. The inputs also include illegal state change detection.
Refer to Figure 2.19 for a schematic of the AM, BM, and IM inputs.
Figure 2.19
Schematic of the Motor Encoder Inputs
+5 V
10k
Ω
1k
Ω
+
56 pF
100 pF
10k
Ω
10k
Ω
-
10k
Ω
1k
Ω
56 pF
AM and BM Channel Inputs
IM Channel Input
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Ultra3000 Connector Data
The Ultra3000 supports both TTL and Sine/Cosine encoders. The following table provides a description of the AM, BM, and IM inputs for TTL encoders.
Parameter
AM, BM, and IM
ON State
Input Voltage
AM, BM, and IM
OFF State
Input Voltage
Common Mode
Input Voltage
DC Current Draw
AM, BM Input
Signal Frequency
IM Pulse Width
AM / BM
Phase Error,
2.5 MHz Line
Frequency
AM / BM
Phase Error,
1 MHz Line
Frequency
Description Minimum Maximum
Input voltage difference between the + input and the - input that is detected as an ON state.
+1.0V
+7.0V
Input voltage difference between the + input and the - input that is detected as an OFF state.
-1.0V
Potential difference between any encoder signal and logic ground.
Current draw into the + or - input.
-7.0V
-30 mA
Frequency of the AM or BM signal inputs.
The count frequency is 4 times this frequency, since the circuitry counts all four transitions.
Pulse width of the index input signal. Since the index is active for a percentage of a revolution, the speed will determine the pulse width.
—
125 nS
-7.0V
+12.0V
30 mA
2.5 MHz
—
Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90°.
-22.5° +22.5°
Amount that the phase relationship between the AM and BM inputs can deviate from the nominal 90°.
-45° +45°
The following table provides a description of the AM and BM inputs for Sine/Cosine encoders.
Parameter
AM and BM
Input Signal
Frequency
AM and BM
Input Voltage
Description
Frequency of the AM or BM signal inputs.
Peak-to-peak input voltages of the AM and BM inputs
Minimum Maximum
— 100 kHz
0.5V (p-p) 2.0V (p-p)
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-35
Hall Inputs
The Ultra3000 can use Hall Signals to initialize the commutation angle for sinusoidal commutation. Hall Signals must be single-ended and
can be either open collector type or TTL type. Figure 2.20 shows the
configuration of the Hall inputs. If the motor does not have Hall signals, the drive can be configured through software to ignore the signals.
Figure 2.20
Hall Input Configuration
+ 5 V
+ 5 V
1k
Ω
1k
Ω
S1, S2, or S3
56
µ
F
COMMON COMMON
Thermostat Input
The Ultra3000 can monitor a thermostat signal from a motor and will
generate a fault if the motor overheats. Figure 2.21 shows the
configuration of the thermostat input. Figure 2.22 on page 2-36 shows
a typical connection to a motor with a normally closed thermostat.
The logic is designed so that an open condition will generate a fault. If the motor does not have a thermostat signal, the drive can be configured through software to ignore the signal.
Figure 2.21
Thermostat Input Configuration
+ 5 V
+ 5 V
1k
Ω
1k
Ω
TS
0.01
µ
F
COMMON COMMON
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2-36
Ultra3000 Connector Data
Figure 2.22
Typical Thermostat Connection
Drive
TS
ECOM
Motor/Encoder
Thermostat normally closed
+ Limit and - Limit Inputs
The Ultra3000 drive includes overtravel limit inputs on the motor encoder connector that can be programmed to halt motion. The logic is designed so that an open condition will halt motion in the corresponding direction. If these signals are not used, the drive can be
typical connection to a motor with integral limit switches.
Figure 2.23
+ Limit and - Limit Input Configuration
+ 5 V
+ 5 V
+ Limit or
- Limit
1k
Ω
1k
Ω
0.01
µ
F
COMMON COMMON
Figure 2.24
Typical + Limit and - Limit Connection
Motor/Encoder
Positive
Overtravel
Negative
Overtravel
Ultra3000 Drive
Limit +
Limit -
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-37
Encoder Phasing
For proper motor commutation and control, it is important that the motor feedback signals are phased properly. The drive has been designed so that a positive current applied to a motor will produce a positive velocity and increasing position readings, as interpreted by the drive. Additionally, if Hall signals are used to initialize the commutation angle, the Hall signals must sequence properly and the phase relationship to the motor back-EMF signals must be understood.
Figure 2.25 shows the proper sequencing of the Hall signals when
positive current is applied to the motor. If the Hall signals are out of phase with the back-EMF signals, the drive can be configured through software to compensate for the phase offset, as long as the
sequencing of the Hall signals is correct. Figure 2.26 shows an
example where the Hall signals have an offset of 60 degrees.
Figure 2.25
Sequencing and Phasing of the Hall Signals
Figure 2.26
Sequencing and Phasing of the Hall Signals (60° Hall Offset Example)
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2-38
Ultra3000 Connector Data
Figure 2.27 shows the proper phasing of TTL A/B encoder signals
when positive current is applied.
Figure 2.27
Phasing of TTL A/B Encoder Signals
A
B
Figure 2.28 shows the proper phasing of Sine/Cosine encoder signals
when positive current is applied.
IMPORTANT
Notice that the Sine/Cosine encoder signals phasing is different than the phasing of the TTL encoders.
Figure 2.28
Phasing of Sine/Cosine Encoder Signals
B A
Publication 2098-IN003C-EN-P — July 2001
Motor Encoder Connection Diagram
Figure 2.29 shows a typical wiring diagram of a motor feedback cable.
If the thermostat, limit, or Hall signals are not available, no connections are required, but the drive must be configured through
software to ignore these signals. Refer to Appendix B for specific
Ultra3000 drive/motor interconnect diagrams.
Figure 2.29
Drive/Motor Wiring Diagram
Encoder
A+ or SIN+
A- or SIN-
B+ or COS+
B- or COS-
I+ or Data+
I- or Data-
POWER (+5V)
GROUND
TS+
TS-
S1
S2
S3
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
ECOM
10
14
6
3
4
1
2
5
Drive
TS 11
S1
S2
S3
12
13
8
Drain
Denotes twisted pair. Connector backshell shielded 360
°
(both ends).
Ultra3000 Connector Data 2-39
IMPORTANT
Total resistance of the wiring for encoder power and ground connections between the drive and motor must be less than 1.4 ohms.
Unbuffered Motor Encoder Outputs
The Ultra3000 passes the motor encoder signals directly to the controller connector without any conditioning. This allows the
controller to access these signals directly. Figure 2.30 shows the
configuration of the Ultra3000 encoder outputs.
Position
Feedback
Buffered Motor Encoder Outputs
The Ultra3000 includes buffered motor encoder outputs. These signals are generated by the drive after filtering and processing the actual feedback from the motor. Programmable multiplication or division may also occur.
The buffered motor encoder outputs use RS-485 differential drivers and have a maximum signal frequency of 2.5 MHz. The drivers can
drive a 2V differential voltage into a 100 ohm load. Figure 2.30 shows
the configuration of the Ultra3000 encoder outputs.
Figure 2.30
Motor Encoder Outputs
Internal
External
Interpolation
1
TTL: 4x
Sin/Cos: 4 to 1024x
Filtering
Differential
Receivers
CN2
Motor
Encoder
Division
1
Frequency
Limit
(0.5 to 8 MHz)
Buffered
Output
Type
Interpolated
Divided
Differential
Drivers
CN1
Unbuffered
Encoder
Output
Buffered
Encoder
Output
1
Interpolation and division operations are performed in firmware and the resulting output frequency is updated at
250
µ s intervals.
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2-40
Ultra3000 Connector Data
Understanding Auxiliary
Encoder Feedback
Specifications
The Ultra3000 can accept an auxiliary encoder signal of the following types.
Figure 2.31
Auxiliary Encoder Input Signal Types
A
B
STEP
DIRECTION
CW
CCW
Figure 2.32 shows the configuration of the AX Auxiliary Encoder Input
channel. The BX and IX channels have the same configuration.
Figure 2.32
Auxiliary Encoder Input Configuration
+ 5 V
AX +
5k
Ω
1k
Ω
+ 5 V
56 pF
10k
Ω
1k
Ω
COMMON
AX -
10k
Ω 56 pF
COMMON
COMMON
Publication 2098-IN003C-EN-P — July 2001
Ultra3000 Connector Data 2-41
The following table provides a description of the auxiliary encoder interface.
Parameter
ON State
Input Voltage
OFF State
Input Voltage
Common Mode
Input Voltage
Signal Frequency
Pulse Width
Setup Time
Description Minimum Maximum
Input voltage difference between the + input and the - input that is detected as an ON state.
+1.0V
+7.0V
Input voltage difference between the + input and the - input that is detected as an OFF state.
-1.0V
-7.0V
Voltage between an input and logic ground.
-7.0V
+12.0V
Frequency of the AX or BX signal inputs.
Count frequency is 4 times this frequency for
A/B type inputs, and equal to this frequency for Step/Dir and CW/CCW type inputs.
Time interval that a Step/Dir type input or
CW/CCW type input must remain in a single state for detection.
Time interval that the Direction, CW, or CCW must be stable before the corresponding
Step, CCW, or CW signal changes state.
—
200 nS
200 nS
2.5 MHz
—
—
Understanding the Serial
Interface
The Ultra3000 includes one serial port that implements the standard
NRZ asynchronous serial format, and supports RS-232, RS-422, and
RS-485 communication standards.
Standard baud rates include 1,200, 2,400, 4,800, 9,600, 19,200, and
38,400 baud. Data lengths of 7 and 8 bits are supported. Parity settings include odd, even, and none.
The connector pinout dedicates separate pins for the RS-232 and
RS-422/ RS-485 signals, so that the communication standard can be
changed by just using a different cable. Refer to Figure 2.33 for the
serial interface configuration.
Figure 2.33
Serial Interface Configuration
RECEIVE
XMT
RCV
RS-232
TRANSMIT
XMT-
XMT+
RCV+
RCV-
RS-485
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2-42
Ultra3000 Connector Data
Default Serial Interface Settings
The default setting of the Ultra3000 serial interface is as follows.
Parameter
Baud Rate
Frame Format
Drive Address
Default Setting
38,400
8 Data, No Parity, One Stop
0
Restoring Drive Communications
The Ultra3000 includes a mechanism for restoring serial communications, in case the drive has unknown serial interface settings or communications cannot be established.
For the first 3 seconds after reset or power-up, the drive listens for messages with the following serial interface settings.
Parameter
Baud Rate
Frame Format
Drive Address
Default Setting
9,600
8 Data, No Parity, One Stop
254
If a message is received during this time, the drive will respond and these settings will be retained until the next reset or power-down, allowing the normal serial interface settings to be determined. If no messages are received during this time, the normal serial interface settings are used.
IMPORTANT
Only one drive should be connected if this mechanism is used, since multiple drives would all respond and the response would be garbled.
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1
Chapter
3
Connecting Your Ultra3000
Chapter Objectives
Understanding Basic
Wiring Requirements
This chapter provides procedures for wiring your Ultra3000 and making cable connections. This chapter includes:
•
Understanding basic wiring requirements
•
Grounding your Ultra3000
•
Wiring your Ultra3000
This section contains basic wiring information for the Ultra3000.
ATTENTION
!
Plan the installation of your system so that you can perform all cutting, drilling, tapping, and welding with the system removed from the enclosure.
Because the system is of the open type construction, be careful to keep any metal debris from falling into it. Metal debris or other foreign matter can become lodged in the circuitry, which can result in damage to components.
IMPORTANT
This section contains common PWM servo system wiring configurations, size, and practices that can be used in a majority of applications. National Electrical
Code, local electrical codes, special operating temperatures, duty cycles, or system configurations take precedence over the values and methods provided.
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3-2
Connecting Your Ultra3000
Building Your Own Cables
When building your own cables, follow the guidelines listed below.
•
Connect the cable shield to the connector shells on both ends of the cable for a complete 360° connection.
•
Use a twisted pair cable whenever possible, twisting differential signals with each other, and single-ended signals with the appropriate ground return.
Refer to Appendix C for mating connector kit catalog numbers.
IMPORTANT
Factory made cables are recommended over hand-built cables and are designed to minimize EMI.
Publication 2098-IN003C-EN-P — July 2001
120/480V
AC power
Connecting Your Ultra3000 3-3
Routing High and Low Voltage Cables
Motor power cables
Be aware that when you connect and route power and signal wiring on a machine or system, radiated noise from nearby relays (relay coils should have surge suppressors), transformers, and other electronic drives, can be induced into motor or encoder feedback, communications, or other sensitive low voltage signals. This can cause system faults and communication problems. To minimize the levels of radiated noise, route machine power and signal lines separately.
Figure 3.1
Routing Power and Signal Cables Inside Your Cabinet
Always separate all low voltage signal wiring from high voltage power wiring to reduce affects of EMI and RFI.
Low voltage communications control I/O wiring motor feedback cables
Unshielded conductors
Do not run low and high voltage wires in the same wireway
Always cross high and low voltage conductors at 90° angles
Maximize distance between high and low voltage cables on parallel runs
Minimize unshielded lead length
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3-4
Connecting Your Ultra3000
Grounding Your Ultra3000
We recommend that all equipment and components of a machine or process system have a common earth ground point connected to their chassis. A grounded system provides a safety ground path for short circuit protection. Grounding your modules and panels minimize shock hazard to personnel and damage to equipment caused by short circuits, transient overvoltages, and accidental connection of energized conductors to the equipment chassis. For CE grounding
requirements, refer to Appendix B.
Grounding Your System to the Subpanel
ATTENTION
!
The National Electrical Code contains grounding requirements, conventions, and definitions. Follow all applicable local codes and regulations to safely ground your system. Refer to the illustration below for details on grounding your Ultra3000. Refer to
Appendix B for the power wiring diagram for your
Ultra3000 drive.
Figure 3.2
Safety Ground Configuration with Multiple Ultra3000 Systems on One Panel
Ultra3000 Digital
Servo Drives
Publication 2098-IN003C-EN-P — July 2001
Bonded ground bar
(optional)
All ground wiring must comply with local codes
Safety ground
(terminal 5)
Bonded cabinet ground bus
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Connecting Your Ultra3000
Grounding Multiple Subpanels
To ground multiple subpanels, refer to the figure below.
Figure 3.3
Subpanels Connected to a Single Ground Point
3-5
Always follow NEC and applicable local codes
Ground grid or power distribution ground
Motor Power Cable Shield Termination
Factory supplied motor power cables for F-Series, H-Series, MP-Series, and N-Series motors are shielded, and the power cable is designed to be terminated at the drive during installation. A small portion of the cable jacket is removed which exposes the shield braid. The exposed area must be clamped to the bottom of the drive chassis (refer to
Figure 3.4) or the front of the drive chassis (refer to Figure 3.5) using
the clamp provided.
ATTENTION
!
To avoid hazard of electrical shock, ensure shielded power cables are grounded at a minimum of one point for safety.
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3-6
Connecting Your Ultra3000
Figure 3.4
Motor Power Cable Shield Connection (bottom of drive)
Ultra3000
V
W
Motor cable jacket
Clamp
Shield
Motor cable jacket
Clamp screws
Figure 3.5
Motor Power Cable Shield Connection (front of drive)
Clamp screws
DC Bus
Motor cable jacket
Clamp
100-240 VAC
50/60 Hz
Shield
Motor cable jacket
+
-
L1
L2/N
L1
AUX
L2/N
AUX
Ultra3000
Y-Series motors have a short pigtail cable which connects to the motor, but is not shielded. These motor power cables have a 152.4 mm (6.0 in.) shield termination wire with a ring lug that connects to the closest earth ground. The termination wire may be extended to the full length of the motor pigtail if necessary, but it is best to connect the supplied wire directly to ground without lengthening.
Refer to Figure 3.6 for an illustration.
Figure 3.6
Y-Series Motor Power Cable Connection
Motor power cable
Pigtail cable
152.4 mm (6.0) Termination
Connectors
Y-Series Motor
Publication 2098-IN003C-EN-P — July 2001
Wiring Your Ultra3000
Connecting Your Ultra3000 3-7
These procedures assume you have bonded and mounted your
Ultra3000 to the subpanel and that there is no power applied to the system.
ATTENTION
!
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. You are required to follow static control precautions when you install, test, service, or repair this assembly. If you do not follow ESD control procedures, components can be damaged. If you are not familiar with static control procedures, refer to Allen-Bradley publication
8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.
The following sections provide information and procedures on how to wire your Ultra3000.
Connecting Interface Cables
Connect all interface cables as shown in the table below.
This cable:
44-pin, D-shell, Controller Interface cable
15-pin, D-shell, Motor Encoder Feedback cable
9-pin, D-shell, Serial Port cable
Plugs into this connector:
CN1
CN2
CN3
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3-8
Connecting Your Ultra3000
Connecting Your SERCOS Fiber Optic Cables
This procedure assumes you have your ControlLogix chassis with
1756-M08SE interface and Ultra3000 SERCOS interface system(s) mounted and are ready to connect the fiber optic cables.
The SERCOS fiber optic ring is connected using the SERCOS Receive
and Transmit connectors. Refer to the chapter Ultra3000 Connector
Data to locate the connectors on your Ultra3000 drive and Figure 3.7
to locate the connectors on your 1756-M08SE interface module.
Refer to Figure 3.8 for an example of fiber optic ring connections
between the Ultra3000 drive and the 1756-M08SE interface module.
Figure 3.7
SERCOS Fiber Optic Connections
SERCOS interface TM
1756-M08SE SERCOS interface Module
CP OK
Publication 2098-IN003C-EN-P — July 2001
Front View
Tx (rear)
Rx (front)
Bottom View
SERCOS Receive Connector, Rx (front)
SERCOS Transmit Connector, Tx (rear)
To connect the SERCOS fiber optic cables:
1. Insert one end of a fiber optic cable into the Receive SERCOS connector on the Ultra3000 drive.
2. Thread the connector on finger tight.
3. Insert the other end of the cable (from step 1) into the Transmit
SERCOS connector on the 1756-M08SE interface module.
4. Thread the connector on finger tight.
5. Insert one end of another fiber optic cable into the Transmit
SERCOS connector on the Ultra3000 drive.
6. Thread the connector on finger tight.
Connecting Your Ultra3000 3-9
7. Insert the other end of the cable (from step 5) into the Receive
SERCOS connector on the 1756-M08SE interface module.
8. Thread the connector on finger tight.
Note: Fiber optic cable lengths of 1.0 m (3.2 ft) to 32 m (105.0 ft) are available in plastic or glass. Lengths of 50 m (164.2 ft) to 200 m
(656.7 ft) are available in glass only.
Figure 3.8
Fiber Optic Ring Connection Example
1756-M08SE SERCOS interface Module
ControlLogix Chassis
Ultra3000 with SERCOS interface
Transmit Receive
Receive
Ultra3000 with SERCOS interface
SERCOS ring Transmit
Receive
SERCOS ring
Transmit
SERCOS ring
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3-10
Connecting Your Ultra3000
Connecting to a DeviceNet Network
A DeviceNet network is an arrangement of electrical power and device distribution. A DeviceNet network is planned and adjusted for optimal communications.
Before proceeding to add devices, you need to record the following:
•
Network data rate
•
Network cable system map (topology) to which you are connecting
•
Distances between cable system components
•
Device current draw and voltage drop for each device on the network
•
Limitation of the trunk and drop cables
Refer to the table below for recommended trunk and drop lengths.
Data Rates
Thick Trunk Line
Thin Trunk Lengths
Maximum Drop Length
Cumulative Drop Budget
125 Kbps
500 m (1,640 ft)
100 m (328 ft)
6 m (20 ft)
156 m (512 ft)
250 Kbps
250 m (820 ft)
100 m (328 ft)
6 m (20 ft)
78 m (256 ft)
500 Kbps
100 m (328 ft)
100 m (328 ft)
6 m (20 ft)
39 m (128 ft)
Refer to the DeviceNet Cable System Planning and Installation
Manual (publication DN-6.7.2) for specific guidance in calculating and attaching the Ultra3000 to a network.
Publication 2098-IN003C-EN-P — July 2001
Connecting Your Ultra3000 3-11
Connecting Your DeviceNet Cable
To attach a plugable, open style, screw-connector to the DeviceNet cable:
1. Strip 65 mm (2.6 in.) to 75 mm (2.96 in.) of the outer jacket from the end of the cable, leaving no more than 6.4mm (0.25 in.) of the braided shield exposed.
Figure 3.9
Exposing the braided shield
Outer Jacket
6.4 mm
(0.25 in.)
Braided Shield
65 mm
(2.6 in.)
2. Wrap the end of the cable with 38 mm (1.5 in.) of shrink wrap, covering part of the exposed wires and part of the outer jacket.
Figure 3.10
Adding shrink wrap
38 mm
(1.5 in.)
Outer Jacket
Shrink Wrap
3. Strip 8.1 mm (0.32 in.) of the insulation from the end of each of the insulated wire.
Note: Be careful not to nick, cut, or otherwise damage the individual strands of wire.
Trim the last 6.5 mm (0.26 in.) of the bare wires so that the outside dimension does not exceed 0.17 mm (0.045 in.).
Figure 3.11
Exposing wire stands
Outer Jacket
8.1 mm
(0.32 in.)
Shrink Wrap
4. Insert each wire into the appropriate clamping cavity of the plugable screw connector, according to the color of the cable insulation. Tighten the clamping screws to secure each wire.
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3-12
Connecting Your Ultra3000
5. Use an 1/8 inch flat blade screwdriver to firmly attach wires in the connector.
Figure 3.12
Wiring the DeviceNet Connector
Plug Connector
2
1
4
3
Terminal Cable Color
5 Red
White
Bare
Blue
Black
1
2
3
4 5
Designation
V +
Can_H
Shield
Can_L
V -
Red (V+)
White (Can_H)
Bare (Shield)
Blue (Can_L)
Black (V-)
6. Attach the Ultra3000 with DeviceNet to the DeviceNet network.
Wiring Power Connections
Power wiring requirements are given in the table below.
Ultra3000 Drives:
Provide this input power:
1
2098-DSD-005x-xx,
-010x-xx, and -020x-xx
2098-DSD-030x-xx
2098-DSD-075x-xx
100-240V ac single phase
2098-DSD-150x-xx
2098-DSD-HVxxx-xx, and
-HVxxxX-xx
100-240V ac
3-phase
207-528V ac
3-phase
With this type of wire:
Copper with 75
(194
° rating
°
C
F) minimum
Phasing of main
AC power:
Arbitrary
Earth ground connection:
Terminal block torque values:
TB1 TB2
N/A
1.25 Nm (11 lb-in.)
Required
(for safe and proper system operation)
2.26 Nm (20 lb-in.)
1.25 Nm
(11 lb-in.)
1.25 Nm (11 lb-in.)
1
The input power may be optionally isolated through a transformer.
For additional information refer to the General Power Specifications
section in Appendix A. Refer to Appendix B for the power wiring
diagram for your Ultra3000 drive.
Publication 2098-IN003C-EN-P — July 2001
Connecting Your Ultra3000 3-13
The internal 5V dc power supply has a resettable fuse that opens at 3 amps and automatically resets itself when the current falls below 3 amps. There are no internal fuses requiring replacement.
The Ultra3000 utilizes solid state motor overload protection which operates in accordance with UL 508C.
Motor overload protection trips:
Eventually
Within 8 minutes
Within 20 seconds
At:
100% overload.
200% overload.
600% overload.
ATTENTION
!
To avoid personal injury and/or equipment damage, ensure installation complies with specifications regarding wire types, conductor sizes, branch circuit protection, and disconnect devices. The National
Electrical Code (NEC) and local codes outline provisions for safely installing electrical equipment.
To avoid personal injury and/or equipment damage, ensure motor power connectors are used for connection purposes only. Do not use them to turn the unit on and off.
To avoid personal injury and/or equipment damage, ensure shielded power cables are grounded to prevent potentially high voltages on the shield.
To wire your input power and motor connections:
1. Prepare your wires by stripping approximately 12 mm (0.50 in.) of insulation from the end.
IMPORTANT
Use caution not to nick, cut, or otherwise damage strands as you remove the insulation.
2. Prepare your motor cable for the CE clamp on the Ultra3000 drive by exposing 12 mm (0.50 in.) of cable shield braid, as shown in
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3-14
Connecting Your Ultra3000
Figure 3.13
CE Clamp Cable Preparation
12 mm (0.50 in.)
Exposed braid
L (refer to the table below)
V
W or U
1
U or W
1
Motor cable
1
Motor cable leads (shortest to longest) are labeled differently, depending on the drive input voltage (230V/460V).
Refer to the table below in step 3 for terminal block wiring locations.
For these Ultra3000 drives:
2098-DSD-005x-xx
2098-DSD-010x-xx
2098-DSD-020x-xx
2098-DSD-030x-xx
2098-DSD-075x-xx
2098-DSD-HVxxx-xx and -HVxxxX-xx
2098-DSD-150x-xx
The dimension L is:
185 mm (7.25 in.)
241 mm (9.50 in.)
3. Using a screw driver, loosen the screw for each of the terminal locations and attach wires as shown in the table below. Refer to
Appendix B for the power wiring diagram for your Ultra3000
drive.
Terminal Block
Locations
(2098-DSD-005x-xx,
-010x-xx, -020x-xx)
DC Bus+
DC Bus-
L1 (Main AC)
L2/N (Main AC)
Safety (Earth) Ground
U
2
(Motor)
V
2
(Motor)
W
2
(Motor)
Motor Case Ground
1
1
Terminal Block
Locations
(2098-DSD-030x-xx)
U
2
V
2
W
2
(Motor)
(Motor)
(Motor)
Motor Case Ground
DC Bus+
1
DC Bus-
1
L1 (Main AC)
L2/N (Main AC)
Safety (Earth) Ground
L1 (Aux AC)
3
L2/N (Aux AC)
3
Terminal Block
Locations
(2098-DSD-075x-xx and -150x-xx)
U
2
(Motor)
V
2
(Motor)
W
2
(Motor)
Motor Case Ground
DC Bus+
1
DC Bus-
1
L1 (Main AC)
L2 (Main AC)
L3 (Main AC)
Safety (Earth) Ground
L1 (Aux AC)
3
L2/N (Aux AC)
3
Terminal Block
Locations
(2098-DSD-HVxxx-xx and -HVxxxX-xx)
DC Bus+
1
DC Bus-
1
W
2
(Motor)
V
2
(Motor)
U
2
(Motor)
Ground
L3 (Main AC)
L2 (Main AC)
L1 (Main AC)
L1 (Aux AC)
3
L2/N (Aux AC)
3
1
Do not connect an external I/O power supply to the DC bus. The DC+ and DC- terminals connect directly to the power bus of the drive.
2
Ensure motor power is wired with proper phasing relative to the motor terminals. On some motors, the motor leads may be labeled R, S, and
T which correspond to U, V, and W.
3 The auxiliary AC power inputs require dual element time delay (slow acting) fuses to accommodate inrush current. Refer to the section
General Power Specifications in Appendix A for the inrush current on the auxiliary AC power input.
Publication 2098-IN003C-EN-P — July 2001
Connecting Your Ultra3000 3-15
4. Tighten each terminal screw. Refer to the table on page 3-12 for
torque values.
5. Gently pull on each wire to make sure it does not come out of its terminal. Re-insert and tighten any loose wires.
6. Attach the plastic cover to terminal block.
IMPORTANT
The DC bus connections should not be used for connecting multiple drives together. Contact your
Allen-Bradley representative for further assistance if the application may require DC power connections.
7.
If your motor is: Then:
F-Series, H-Series,
MP-Series, or
N-Series
Y-Series
1. Remove the two screws securing the cable clamp on the Ultra3000 drive
(refer to figures 3.4 or 3.5 for the cable
clamp location on your Ultra3000 drive).
2. Place the cable within the clamp and replace the screws (do not tighten).
3. Position the exposed portion of the cable braid directly in line with the clamp.
4. Tighten the screws with a torque of
0.9-1.1 Nm (8.0-10.0 lb-in.).
1. Connect the 152.4 mm (6.0 in.) termination wire to the closest earth
ground (refer to Figure 3.6 for pigtail
location).
8.
If your Ultra3000 catalog number begins with:
2098-DSD-005
2098-DSD-010
2098-DSD-020
Then:
You are finished wiring your Ultra3000 power connections.
2098-DSD-030
2098-DSD-075
2098-DSD-150
2098-DSD-HVxxx-xx, and -HVxxxX-xx
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3-16
Connecting Your Ultra3000
9.
If your application requires:
Then:
The internal shunt resistor
An external shunt resistor
Connect a jumper to TB2 between terminal 1 and 2 as shown in the figure below (for the location of TB2, refer to the
chapter Ultra3000 Connector Data).
Connect your external shunt resistor to
TB2 between terminals 1 and 3 as shown in the figure below (for the location of
TB2, refer to the chapter Ultra3000
Figure 3.14
Connecting Your Shunt Resistor
Connecting the Internal Shunt Resistor
1
1
2
3
TB2
1
This is the factory default jumper setting for TB2.
Connecting the External Shunt Resistor
Resistor
1
2
3
TB2
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1
Appendix
A
Specifications and Dimensions
Chapter Objectives
This appendix covers the following topics:
•
Ultra3000 specifications
•
Dimensions
Ultra3000 Specifications
The following sections provide specifications for the Ultra3000.
General Power Specifications
The table below lists general power specifications and requirements for the Ultra3000 230V drives (2098-DSD-005x-xx, -010x-xx, and
-020x-xx).
Specification
AC Input Voltage
1
AC Input Frequency
2098-DSD-005x-xx
100-240V rms
Single Phase
47 - 63 Hz
Description
2098-DSD-010x-xx
AC Input Current
Nominal
Maximum inrush (230V ac input)
Output Peak Current
Continuous Output Current
Energy Absorption Capability
115V ac input
230V ac input
Continuous Power Output
115V ac input
230V ac input
5A rms
100A (0-peak)
7.5A (0-peak)
2.5A (0-peak)
125 Joules
51 Joules
9A rms
100A (0-peak)
15A (0-peak)
5A (0-peak)
0.25 kW
0.5 kW
0.5 kW
1.0 kW
1
Specification is for nominal voltage. The absolute limits are ±10%, or 88-265V rms
.
2098-DSD-020x-xx
18A rms
100A (0-peak)
30A (0-peak)
10A (0-peak)
1.0 kW
2.0 kW
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A-2
Specifications and Dimensions
The table below lists general power specifications and requirements for the Ultra3000 230V drives (2098-DSD-030x-xx, -075x-xx, and
-150x-xx).
Specification
AC Input Voltage
1
Description
2098-DSD-030x-xx
100-240V rms
Single Phase
47 - 63 Hz
2098-DSD-075x-xx
100-240V rms
Three Phase
AC Input Frequency
Main AC Input Current
Nominal,
Maximum inrush, 230V ac input
28A rms
50A rms
30A rms
50A rms
Auxiliary AC Input Current
Nominal, 115V ac input
Nominal, 230V ac input
Maximum inrush, 115V ac input
Maximum inrush, 230V ac input
Continuous Output Current
Intermittent Output Current
Internal Shunt
Continuous power
Peak power
External Shunt
Minimum resistance
Continuous power
Peak power
Energy Absorption Capability
115V ac input
230V ac input
Continuous Power Output
115V ac input
230V ac input
1.0A
rms
0.5A
rms
47A (0-peak)
95A (0-peak)
15A (0-peak)
30A (0-peak)
50W
4.5 kW
30 Ohms
2.4 kW
6 kW
203 Joules
96 Joules
1.0A
0.5A
rms rms
47A (0-peak)
95A (0-peak)
35A (0-peak)
75A (0-peak)
50W
10 kW
16.5 Ohms
4 kW
10 kW
321 Joules
151 Joules
1.5 kW
3 kW
3.75 kW
7.5 kW
1
Specification is for nominal voltage. The absolute limits are ±10%, or 88-265V rms
.
2098-DSD-150x-xx
46A rms
68A rms
1.0A
rms
0.5A
rms
47A (0-peak)
95A (0-peak)
65A (0-peak)
150A (0-peak)
180W
18 kW
9 Ohms
8 kW
19 kW
563 Joules
265 Joules
7.5 kW
15 kW
Publication 2098-IN003C-EN-P — July 2001
Specification
AC Input Voltage
1
AC Input Frequency
Main AC Input Current
2
Nominal, 460V ac input
Maximum inrush, 460V ac input
Auxiliary AC Input Current
Nominal, 230V ac input
Nominal, 360V ac input
Nominal, 480V ac input
Maximum inrush, 230V ac input
Maximum inrush, 480V ac input
Continuous Output Current
Intermittent Output Current
Internal Shunt
Continuous power
Peak power
External Shunt
Minimum resistance
Continuous power
Peak power
Energy Absorption Capability
230V ac input with 230V motor
230V ac input with 460V motor
460V ac input
Continuous Power Output
230V ac input
460V ac input
Specifications and Dimensions A-3
The table below lists general power specifications and requirements for the Ultra3000 460V drives (2098-DSD-HV030x-xx, -HV050x-xx,
-HV100x-xx, -HV150x-xx, and -HV220x-xx).
2098-DSD-HV030
x-xx
230-480V rms
Three Phase
47 - 63 Hz
2098-DSD-HV050
x-xx
Description
2098-DSD-HV100
x-xx
2098-DSD-HV150
x-xx
2098-DSD-HV220
x-xx
4A rms
6A rms
0.55A
rms
0.35A
rms
0.25A
rms
47A (0-peak)
3
68A (0-peak)
3
7A (0-peak)
14A (0-peak)
7A
6A rms rms
0.55A
0.35A
0.25A
rms rms rms
47A (0-peak)
3
68A (0-peak)
3
11A (0-peak)
22A (0-peak)
14A
6A rms rms
0.55A
rms
0.35A
rms
0.25A
rms
47A (0-peak)
3
68A (0-peak)
3
23A (0-peak)
46A (0-peak)
20A
6A rms rms
0.55A
rms
0.35A
rms
0.25A
rms
47A (0-peak)
3
68A (0-peak)
3
34A (0-peak)
68A (0-peak)
28A
6A rms rms
0.55A
0.35A
0.25A
rms rms rms
47A (0-peak)
68A (0-peak)
3
3
47A (0-peak)
94A (0-peak)
100W
5.3 kW
120 Ohms
3 kW
5.3 kW
58 Joules
517 Joules
219 Joules
100W
5.3 kW
120 Ohms
5 kW
5.3 kW
58 Joules
517 Joules
219 Joules
200W
16 kW
40 Ohms
10 kW
16 kW
88Joules
776Joules
329 Joules
200W
25.6 kW
25 Ohms
15 kW
25.6 kW
117 Joules
1034 Joules
439 Joules
400W
32 kW
1.5 kW
3.0 kW
2.5 kW
5.0 kW
5.0 kW
10 kW
7.5 kW
15 kW
11 kW
22 kW
1
Specification is for nominal voltage. The absolute limits are ±10%, or 207-528V rms
.
2
The 2098-HVxxx -xx and -HVxxxX-xx (460V) drives are limited to three contactor cycles per minute.
3
400
µ s half wave sine
20 Ohms
22 kW
32 kW
234 Joules
2069 Joules
878Joules
Publication 2098-IN003C-EN-P — July 2001
A-4
Specifications and Dimensions
Physical and Environmental
The table below lists physical and environmental specifications and requirements.
Specification
Weight
2098-DSD-005x-xx
2098-DSD-010x-xx
2098-DSD-020x-xx
2098-DSD-030x-xx
2098-DSD-075x-xx
2098-DSD-150x-xx
2098-DSD-HV030x-xx
2098-DSD-HV050x-xx
2098-DSD-HV100x-xx
2098-DSD-HV150x-xx
2098-DSD-HV220x-xx
Operating Temperature
Storage Temperature
Humidity
Altitude
Description
1.8 kg (4.1 lbs)
2.1 kg (4.6 lbs)
2.1 kg (4.6 lbs)
6.2 kg (13.6 lbs)
9.3 kg (20.6 lbs)
14.1 kg (31.0 lbs)
8.55 kg (18.8 lbs)
8.55 kg (18.8 lbs)
10.44 kg (22.96 lbs)
10.44 kg (22.96 lbs)
14.1 kg (31.0 lbs)
0 o
C to 55 o
C (32 o
F to 131 o
F)
-40 o
C to 70 o
C (-40 o
F to 158 o
F)
5% to 95% non-condensing
1500 m (5000 ft)
Derate 3% for each 300 m above 1500m
Vibration
Operating/Non-operating
Shock
Non-operating
5 to 2000 Hz, 2.5 g peak, 0.015 in.
maximum displacement
15 g 11 ms half sine
UL Listed to U.S. and Canadian safety standards
UL 508 C File E145959
Publication 2098-IN003C-EN-P — July 2001
Specifications and Dimensions A-5
Power Dissipation
Use the following table to size an enclosure and calculate required ventilation for the Ultra3000. Typical heat losses run approximately one-half maximum power losses. The maximum power losses are shown below.
Catalog Number
2098-DSD-005, -005X, -005-SE, -005-DN, -005X-DN
2098-DSD-010, -010X, -010-SE, -010-DN, -010X-DN
2098-DSD-020, -020X, -020-SE, -020-DN, -020X-DN
Maximum Loss (Watts)
48 + dissipative shunt
48 + dissipative shunt
50 + dissipative shunt
2098-DSD-030, -030X, -030-SE, -030-DN, -030X-DN
2098-DSD-075, -075X, -075-SE, -075-DN, -075X-DN
150 + dissipative shunt
300 + dissipative shunt
2098-DSD-150, -150X, -150-SE, -150-DN, -150X-DN 500 + dissipative shunt
2098-DSD-HV030, -HV030X, -HV030-SE, -HV030-DN, -HV030X-DN 175 + dissipative shunt
2098-DSD-HV050, -HV050X, -HV050-SE, -HV050-DN, -HV050X-DN 175 + dissipative shunt
2098-DSD-HV100, -HV100X, -HV100-SE, -HV100-DN, -HV100X-DN 350 + dissipative shunt
2098-DSD-HV150, -HV150X, -HV150-SE, -HV150-DN, -HV150X-DN 350 + dissipative shunt
2098-DSD-HV220, -HV220X, -HV220-SE, -HV220-DN, -HV220X-DN 600 + dissipative shunt
Control
The table below lists control specifications.
Specification
Commutation
Current Regulator
Velocity Regulator
Position Regulator
Description
3 Phase Sinusoidal, Space Vector Modulated (SVM)
Digital PI 125 µsec update rate
Digital PID - 250 µsec update rate
Digital PID with feed-forward - 1 mS update rate
Publication 2098-IN003C-EN-P — July 2001
A-6
Specifications and Dimensions
Inputs and Outputs
The table below lists I/O specifications.
Specification
Digital Inputs
Digital Outputs
Relay Output
I/O Response
Digital I/O Firmware
Scan Period
Analog Inputs
COMMAND
ILIMIT
Analog Output
Description
8 Optically Isolated 12-24V Inputs, Active High, Current Sinking
4 Optically Isolated 12-24V Outputs, Active High, Current Sourcing
1 Normally Open Relay - 30V dc Maximum Voltage,
1A Maximum Current
100 µsec
1 mS
14 bit A/D, ±10V
10 bit A/D, 0 to 10V
+10V, 8 bits, 2 mA maximum
Serial Communication
The table below lists the serial communication specifications.
Specification
Serial
Baud Rates
Frame Format
Description
1 RS-232/RS-422/RS-485 Port
1200, 2400, 4800, 9600, 19200, and 38400 baud
7 Data, Even Parity, One Stop
7 Data, Odd Parity, One Stop
8 Data, No Parity, One Stop
8 Data, Even Parity, One Stop
8 Data, Odd Parity, One Stop
Motor Feedback
The table below lists motor feedback specifications.
Specification
Encoder Types
Maximum Input Frequency
Commutation Startup
Description
Incremental, Sine/Cosine, Intelligent, and Absolute
100 kHz (Sine/Cosine Input)
2.5 MHz (TTL Input) per channel
Hall Sensor or None
Publication 2098-IN003C-EN-P — July 2001
Specifications and Dimensions
Auxiliary Feedback
The table below lists auxiliary feedback specifications.
Specification
Input Modes
Input Types
Maximum Signal Frequency
Description
A quad B, Step/Direction, CW/CCW
Differential, single-ended, open collector
1
2.5 MHz
1
Differential input types are recommended.
A-7
Connectors
The table below lists connector specifications. Refer to Appendix C for
a list of mating connectors available from other suppliers.
Connector
CN1
CN2
CN3
Specification
User Input/Output
Motor Feedback Connector
Serial Port Connector
Description
44-pin high-density D-shell
15-pin high-density D-shell
9-pin standard D-shell
SERCOS Communication
The table below lists SERCOS communication specifications.
Specification
Data Rates
Description
2M baud and 4M baud
Node Addresses 01-99
DeviceNet Communication
The table below lists DeviceNet communication specifications.
Specification
Power Consumption from Network
Data Rates
Node Addresses
Messaging Capabilities
Description
60 mA
125 kps, 250 kps, and 500 kps
00-63
Explicit, polled I/O, change of state, and cyclic messaging
Publication 2098-IN003C-EN-P — July 2001
A-8
Dimensions
Specifications and Dimensions
The following diagrams show the dimensions and mounting hole locations for the Ultra3000 drives.
Figure A.1
Dimensions and Mounting Diagram
(2098-DSD-005 and -005X)
65.02 mm
(2.56 in.)
38.10 mm
(1.50 in.)
13.26 mm
(0.52 in.)
129.29 mm
(5.09 in.)
186.18 mm
(7.33 in.)
165.35 mm
(6.51 in.)
198.12 mm
(7.80 in.)
32.77 mm
(1.29 in.)
144.27 mm
(5.68 in.)
72.64 mm
(2.86 in.)
Publication 2098-IN003C-EN-P — July 2001
186.18 mm
(7.33 in.)
Specifications and Dimensions
65.02 mm
(2.56 in.)
38.10 mm
(1.50 in.)
Figure A.2
Dimensions and Mounting Diagram
(2098-DSD-010, -010X, -020, and -020X)
13.26 mm
(0.52 in.)
129.29 mm
(5.09 in.)
A-9
165.35 mm
(6.51 in.)
198.12 mm
(7.80 in.)
32.77 mm
(1.29 in.)
144.27 mm
(5.68 in.)
98.81 mm
(3.89 in.)
Fan only on 2 kW units
Publication 2098-IN003C-EN-P — July 2001
A-10
Specifications and Dimensions
Figure A.3
Dimensions and Mounting Diagram
(2098-DSD-005-SE, -005-DN, and -005X-DN)
87.88 mm
(3.46 in.)
38.10 mm
(1.50 in.)
24.64 mm
(0.97 in.)
129.03 mm
(5.08 in.)
186.18 mm
(7.33 in.)
164.85 mm
(6.49 in.)
198.12 mm
(7.80 in.)
43.94 mm
(1.73 in.)
144.02 mm
(5.67 in.)
95.50 mm
(3.76 in.)
Publication 2098-IN003C-EN-P — July 2001
186.18 mm
(7.33 in.)
Specifications and Dimensions
87.88 mm
(3.46 in.)
38.10 mm
(1.50 in.)
Figure A.4
Dimensions and Mounting Diagram
(2098-DSD-010-SE, -020-SE, -010-DN, -010X-DN, -20-DN, and -020X-DN)
24.64 mm
(0.97 in.)
129.03 mm
(5.08 in.)
A-11
164.85 mm
(6.49 in.)
198.12 mm
(7.80 in.)
43.94 mm
(1.73 in.)
144.02 mm
(5.67 in.)
121.54 mm
(4.79 in.)
Fan only on 2 kW units
Publication 2098-IN003C-EN-P — July 2001
A-12
6.86 mm
(.27 in.)
Specifications and Dimensions
Figure A.5
Dimensions and Mounting Diagram
(2098-DSD-030, -030X, -030-SE, -030-DN, and -030X-DN)
91.44 mm
(3.60 in.)
50.80 mm
(2.00 in.)
20.32 mm
(.80 in.)
227.08 mm
(8.94 in.)
349.25 mm
(13.75 in.)
335.28 mm
(13.20 in.)
331.47 mm
(13.05 in.)
360.68 mm
(14.20 in.)
50.80 mm
(2.00 in.)
20.32 mm
(.80 in.)
243.84 mm
(9.60 in.)
92.71 mm
(3.65 in.)
95.00 mm
(3.74 in.)
Publication 2098-IN003C-EN-P — July 2001
6.86 mm
(.27 in.)
138.68 mm
(5.41 in.)
88.90 mm
(3.50 in.)
24.89 mm
(.96 in.)
Specifications and Dimensions
Figure A.6
Dimensions and Mounting Diagram
(2098-DSD-075, -075X, -075-SE, -075-DN, and -075X-DN)
A-13
227.08 mm
(8.94 in.)
349.25 mm
(13.75 in.)
335.03 mm
(13.19 in.)
331.47 mm
(13.05 in.)
360.68 mm
(14.20 in.)
88.90 mm
(3.50 in.)
24.89 mm
(.96 in.)
247.14 mm
(9.73 in.)
139.95 mm
(5.46 in.)
142.24 mm
(5.55 in.)
Publication 2098-IN003C-EN-P — July 2001
A-14
6.86 mm
(.27 in.)
Specifications and Dimensions
Figure A.7
Dimensions and Mounting Diagram
(2098-DSD-150, -150X, -150-SE, -150-DN, and -150X-DN)
188.97 mm
(7.44 in.)
139.70 mm
(5.50 in.)
69.85 mm
(2.75 in.)
24.64 mm
(.97 in.)
227.08 mm
(8.94 in.)
349.25 mm
(13.75 in.)
335.03 mm
(13.19 in.)
331.47 mm
(13.05 in.)
360.68 mm
(14.20 in.)
139.70 mm
(5.50 in.)
69.85 mm
(2.75 in.)
24.64 mm
(.97 in.)
241.05 mm
(9.49 in.)
190.25 mm
(7.49 in.)
192.53 mm
(7.58 in.)
Publication 2098-IN003C-EN-P — July 2001
18.5 mm
(0.73 in.)
138.7 mm
(5.46 in.)
50.8 mm
(2.0 in.)
50.8 mm
(2.0 in.)
Specifications and Dimensions
Figure A.8
Dimensions and Mounting Diagram
(2098-DSD-HV030, -HV030X, -HV030-SE, -HV030-DN, -HV030X-DN, and
2098-DSD-HV050, -HV050X, -HV050-SE, -HV050-DN, -HV050X-DN)
A-15
349.3 mm
(13.75 in.)
360.7 mm
(14.2 in.)
331.5 mm
(13.05 in.)
242.2 mm
(9.54 in.)
225.8 mm
(8.89 in.)
Publication 2098-IN003C-EN-P — July 2001
A-16
25 mm
(.99 in.)
Specifications and Dimensions
Figure A.9
Dimensions and Mounting Diagram
(2098-DSD-HV100, -HV100X, -HV100-SE, -HV100-DN, -HV100X-DN, and
2098-DSD-HV150, -HV150X, -HV150-SE, -HV150-DN, -HV150X-DN)
151.6 mm
(5.97 in.)
50.8 mm
(2.0 in.)
50.8 mm
(2.0 in.)
360.7 mm
(14.2 in.)
349.3 mm
(13.75 in.)
331.5 mm
(13.05 in.)
242.4 mm
(9.54 in.)
225.8 mm
(8.89 in.)
Publication 2098-IN003C-EN-P — July 2001
25.4 mm
(1.0 in.)
76.2 mm
(3.0 in.)
203.2 mm
(8.0 in.)
76.2 mm
(3.0 in.)
Specifications and Dimensions
Figure A.10
Dimensions and Mounting Diagram
(2098-DSD-HV220, -HV220X, -HV220-SE, -HV220-DN, and -HV220X-DN)
A-17
380.4 mm
(14.98 in.)
391.8 mm
(15.43 in.)
362.6 mm
(14.26 in.)
242.2 mm
(9.54 in.)
225.8 mm
(8.89 in.)
Publication 2098-IN003C-EN-P — July 2001
A-18
Specifications and Dimensions
Publication 2098-IN003C-EN-P — July 2001
1
Appendix
B
Interconnect Diagrams
Chapter Objectives
This appendix contains the following interconnect diagrams:
•
Ultra3000 to ControlLogix cable and interconnect diagrams
•
Ultra3000 and motor cable diagrams
•
Ultra3000 power wiring diagrams
•
Start/stop string configuration diagram examples
•
Controlling a brake
•
Grounding for Ultra3000 CE requirements
•
Ultra3000 to shunt module interconnect diagrams
Ultra3000 to ControlLogix
Cable and Interconnect
Diagrams
This section provides information to assist you in wiring the
1756-M02AE servo module when connecting the 2090-U3AE-D44xx control interface cable to your Ultra3000.
Figure B.1
2090-U3AE-D44xx Cable
Pin 44
Pin 31
Pin 1
Connector,
D-sub, high density 44-pin with 45˚ black
PVC overmold
Pin 15
AXIS 0 - CN1
AXIS 0 - CN1
AXIS 1 - CN1
AXIS 1 - CN1
IO - AX0
RELAY - AX0
IO PWR - AX0
AUX PWR - AX0
MO2AE view shown without cover
AUX PWR - AX1
IO PWR - AX1
RELAY - AX1
IO - AX1
Publication 2098-IN003C-EN-P — July 2001
B-2
Interconnect Diagrams
43
44
RELAY +
RELAY -
30
28
IO PWR
IO COM
3
2
AUX PWR +5
AUXCOM ECOM
25
26
ANALOG COMMAND +
ANALOG COMMAND -
29
31
39
27
IO POWER
INPUT 1 ENABLE
2
OUTPUT 1 READY
3
IO COM
19
20
21
16
17
18
AOUT +
AOUT -
BOUT +
BOUT -
IOUT +
IOUT -
WHT/ORG 22GA
WHT/YEL 22GA
DRAIN
WHT/RED 22GA
WHT/BLACK 22GA
DRAIN
RED 22GA
BLACK 22GA
DRAIN
AXIS 0
WHT/GRN 22GA
WHT/BLU 22GA
DRAIN
BROWN 28GA
RED 28GA
ORANGE 28GA
YELLOW 28GA
DRAIN
GREEN 28GA
BLUE 28GA
VIOLET 28GA
GRAY 28GA
WHITE 28GA
BLACK 28GA
DRAIN
Figure B.2
Ultra3000 to ControlLogix Servo Module Interconnect Diagram
RELAY
(user configured)
IO PWR
1
AUX PWR
(optional)
2 AXIS SERVO
CH0 CH1
FDBK FDBK
DRIVE DRIVE
OK
RELAY
(user configured)
1
IO PWR
AUX PWR
(optional)
WHT/ORG 22GA
WHT/YEL 22GA
DRAIN
WHT/RED 22GA
WHT/BLACK 22GA
DRAIN
RED 22GA
BLACK 22GA
DRAIN
AXIS 1
+OUT-0
-OUT-0
CHASSIS
2
4
12
+ENABLE-0
-ENABLE-0
DRVFLT-0
IN_COM
6
8
10
14
+CHA-0
-CHA-0
+CHB-0
-CHB-0
+CHZ-0
-CHZ-0
CHASSIS
26
28
30
32
34
36
24
23
25
27
15
17
19
21
29
31
33
35
11
13
7
9
1
3
5
24
26
28
16
18
20
22
30
32
34
36
8
10
12
14
2
4
6
1
3
11
+OUT-1
-OUT-1
CHASSIS
5
7
9
13
+ENABLE-1
-ENABLE-1
DRVFLT-1
IN_COM
25
27
29
31
33
35
23
+CHA-1
-CHA-1
+CHB-1
-CHB-1
+CHZ-1
-CHZ-1
CHASSIS
WHT/GRN 22GA
WHT/BLU 22GA
DRAIN
BROWN 28GA
RED 28GA
ORANGE 28GA
YELLOW 28GA
DRAIN
GREEN 28GA
BLUE 28GA
VIOLET 28GA
GRAY 28GA
WHITE 28GA
BLACK 28GA
DRAIN
RELAY +
RELAY -
43
44
IO PWR
IO COM
30
28
AUX PWR +5
AUXCOM ECOM
3
2
ANALOG COMMAND +
ANALOG COMMAND -
25
26
IO POWER
2
INPUT 1 ENABLE
3
OUTPUT 1 READY
IO COM
29
31
39
27
AOUT +
AOUT -
BOUT +
BOUT -
IOUT +
IOUT -
16
17
18
19
20
21
2090-U3AE-D44 xx
Controller Interface
Cable
Ultra3000
CN1 Connector
(Axis 0)
35
36
37
38
32
33
34
40
41
42
11
12
13
14
15
6
7
8
4
5
9
10
22
23
24
1
BLACK 28GA
WHT/BLK 28GA
BROWN 28GA
WHT/BRN 28GA
RED 28GA
WHT/RED 28GA
ORANGE 28GA
WHT/ORG 28GA
YELLOW 28GA
WHT/YEL 28GA
GREEN 28GA
WHT/GRN 28GA
BLUE 28GA
WHT/BLU 28GA
VIOLET 28GA
WHT/VIO 28GA
GRAY 28GA
WHT/GRY 28GA
PINK 28GA
WHT/PNK 28GA
WHT/BLK/RED 28GA
RED/BLK 28GA
WHT/BLK/ORG 28GA
ORG/BLK 28GA
WHT/BLK/YEL 28GA
YEL/BLK 28GA
DRAIN
1756-M02AE SERVO MODULE
IX-
AM+
AM-
BM+
BM-
IM+
IM-
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
ACOM ANALOG GRD
ANALOG OUT PROG
ILIMIT
EPWR +5 OUT
AX+
AX-
BX+
BX-
IX+
INPUT 7
INPUT 8
OUTPUT 2
OUTPUT 3
OUTPUT 4
ACOM ANALOG GRD
ANALOG OUT PROG
ILIMIT
EPWR +5 OUT
AX+
AX-
BX+
BX-
IX+
IX-
AM+
AM-
BM+
BM-
IM+
IM-
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
OUTPUT 2
OUTPUT 3
OUTPUT 4
BLACK 28GA
WHT/BLK 28GA
BROWN 28GA
WHT/BRN 28GA
RED 28GA
WHT/RED 28GA
ORANGE 28GA
WHT/ORG 28GA
YELLOW 28GA
WHT/YEL 28GA
GREEN 28GA
WHT/GRN 28GA
BLUE 28GA
WHT/BLU 28GA
VIOLET 28GA
WHT/VIO 28GA
GRAY 28GA
WHT/GRY 28GA
PINK 28GA
WHT/PNK 28GA
WHT/BLK/RED 28GA
RED/BLK 28GA
WHT/BLK/ORG 28GA
ORG/BLK 28GA
WHT/BLK/YEL 28GA
YEL/BLK 28GA
DRAIN
1
I/O power (pins 28 and 30) must be connected to user-supplied 12-24V dc.
2
Input 1 (pin 31) must configured as Drive Enable using Ultraware software.
3
Output 1 (pin 39) must be configured as Ready using Ultraware software.
33
34
35
36
37
38
40
41
42
8
9
10
6
7
24
1
4
5
22
23
11
12
13
14
15
32
2090-U3AE-D44 xx
Controller Interface
Cable
Ultra3000
CN1 Connector
(Axis 1)
Publication 2098-IN003C-EN-P — July 2001
Interconnect Diagrams B-3
Ultra3000 and Motor Cable
Diagrams
This section provides information to assist you in wiring your MP, N,
H/F, and Y-Series motors when connecting to your Ultra3000.
Ultra3000 Drive and Motor Cable Combinations
The figure below describes the motor power, feedback, and interface cables you will need for your specific Ultra3000 and motor combination.
Figure B.3
Ultra3000 Motor/Drive Cable Connections
Motor Power Cables
500W, 1 kW, 2 kW Ultra3000 to H-Series Motors
500W, 1 kW, 2 kW Ultra3000 to H-Series Motors
15 kW Ultra3000 to H-Series Motors
15 kW Ultra3000 to H-Series Motors
2 or 3 kW Ultra3000 to H and F-Series Motors
2 or 3 kW Ultra3000 to H and F-Series Motors
7.5 kW Ultra3000 to H and F-Series Motors
7.5 kW Ultra3000 to H and F-Series Motors
15 kW Ultra3000 to H and F-Series Motors
15 kW Ultra3000 to H and F-Series Motors
500W, 1 kW, 2 kW Ultra3000 to MP-Series Motors
2 or 3 kW Ultra3000 to MP-Series Motors
7.5 kW Ultra3000 to MP-Series Motors
500W, 1 kW, 2 kW Ultra3000 to N-Series Motors
500W, 1 kW, 2 kW Ultra3000 to N-Series Motors
500W, 1 kW, 2 kW Ultra3000 to Y-Series Motors
Catalog Number
2090-UXNPAH-16Sxx
2090-UXNPAH-16Rxx
2090-UXNPAH-6Sxx
2090-UXNPAH-6Rxx
2090-UXNPAHF-14Sxx
2090-UXNPAHF-14Rxx
2090-UXNPAHF-10Sxx
2090-UXNPAHF-10Rxx
2090-UXNPAHF-8Sxx
2090-UXNPAHF-8Rxx
2090-UXNPAMP-16Sxx
2090-UXNPAMP-14Sxx
2090-UXNPAMP-10Sxx
2090-UXNPAN-16Sxx
2090-UXNPAN-16Rxx
2090-UXNPAY-16Sxx
Feedback Cables
Ultra3000 CN2 port to H-Series Motors, RA
Flying Leads on drive-end to H-Series Motor, RA
Ultra3000 CN2 port to H and F-Series Motors
Flying Leads on drive-end to H and F-Series Motor
Ultra3000 CN2 port to H and F-Series Motors, RA
Ultra3000 CN2 port to H and F-Series Motors, RA, skewed
Ultra3000 CN2 port to MP-Series Motors
Flying Leads on drive-end to MP-Series Motor
Ultra3000 CN2 port to N-Series Motors
Flying leads on drive-end to N-Series Motors
Ultra3000 CN2 port to N-Series Motors, RA
Ultra3000 CN2 port to N-Series Motors, RA, skewed
Ultra3000 CN2 port to N-Series Motors, RA, skewed
Flying leads on drive-end to N-Series Motors, RA, skewed
Flying leads on drive-end to N-Series Motors, RA
Ultra3000 CN2 port to Y-Series Motors
Flying Leads on drive-end to Y-Series Motor
CN2 Break Out Board Kit (see description o n pageC-7)
CN2 drive mounted Break Out Board
Drive Feedback Cable (CN2) to flying leads, straight
Catalog Number
2090-UXNFBH-Rxx
2090-UXNFDH-Rxx
2090-UXNFBHF-Sxx
2090-UXNFDHF-Sxx
2090-UXNFBHF-Rxx
2090-UXNFBHF-Kxx
2090-UXNFBMP-Sxx
2090-UXNFDMP-Sxx
2090-UXNFBN-Sxx
2090-UXNFDN-Sxx
2090-UXNFBN-Rxx
2090-UXNFBN-Kxx
2090-UXNFBN23-Kxx
2090-UXNFDN23-Kxx
2090-UXNFDN-Rxx
2090-UXNFBY-Sxx
2090-UXNFDY-Sxx
2090-UXBK-D15xx
2090-UXBB-DM15
2090-UXNFM-Sxx
Interface Cables
Ultra3000 CN1 Break Out Board Kit (see p a g eC-7)
Ultra3000 CN1 port to no connector
Ultra3000 CN1 drive mounted Break Out Board
Ultra3000 CN1 port to ControlLogix servo module
Ultra3000 CN3 serial port to personal computer
Ultra3000 CN3 drive mounted Break Out Board
Catalog Number
2090-U3BK-D44xx
2090-U3CC-D44xx
2090-U3BB-DM44
2090-U3AE-D44xx
2090-UXPC-D09xx
2090-UXBB-DM09
Length of cable xx is in meters; 01, 03, 09, 15, 30 (3.3, 9.8, 29.5, 49.2, 98.5 ft)
Ultra3000
To
Terminal
Strip
To CN2
To CN1
To CN3
Publication 2098-IN003C-EN-P — July 2001
B-4
Ultra3000
A
B
BROWN
BLACK
U
V
C BLUE W
D GRN/YEL GND
Interconnect Diagrams
2090-UXNPAMPxxSxx
Motor Power Cable
Ultra3000 to Motor Interconnect Diagrams
Figure B.4
Ultra3000 to MP-Series Motor Configuration (mating connector)
Pin 6
Pin 11
Pin 15
CN2
5
10
14
6
3
4
1
2
7
11
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
ECOM
EPWR_9V
TS+
8
9
12
13
15
S1
S2
S3
+LIMIT
-LIMIT
2090-UXNFBMP-S xx
Motor Feedback Cable with 15-pin Connector
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
VIOLET
WHT/VIOLET
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
BROWN
WHT/BROWN
DRAIN
Denotes twisted pair.
Connector backshell shielded 360˚
(both ends).
K
L
E
F
C
D
A
B
N
R
S
G
H
M
P
V
J
T
U
A
C
BR+
BR-
BRAKE
A+ or
A-
B+
B-
I+
I-
SIN+ or
SINor
COS+ or
COSor
DATA+ or
DATA-
POWER (+5V)
COM
POWER (+9V)
TS+
TS-
S1
S2
S3
+LIMIT
-LIMIT
COM
N/C
N/C
MP-Series
Motor
K
J
L
H
T
U
M
A
B
G
S
N
C
V
P
R
E
D
F
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
A
B
D
C
Pin 1
Pin 5
Pin 10
MOTOR BRAKE
CONNECTIONS
Motor
Brake Connector
Feedback Cable Connector
B
A
D
C
W
V
U
GND
MOTOR POWER
CONNECTIONS
A
D
B
C
Motor
Power Connector
Publication 2098-IN003C-EN-P — July 2001
Ultra3000
A
B
BROWN
BLACK
U
V
C BLUE W
D GRN/YEL GND
2090-UXNPAMPxxSxx
Motor Power Cable
Interconnect Diagrams
Figure B.5
Ultra3000 to MP-Series Motor Configuration (flying leads)
B-5
CN2
5
10
14
6
3
4
1
2
7
11
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
ECOM
EPWR_9V
TS+
8
9
12
13
15
S1
S2
S3
+LIMIT
-LIMIT
2090-UXNFDMP-S xx
Motor Feedback Cable with Flying Leads
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
VIOLET
WHT/VIOLET
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
YELLOW
WHT/YELLOW
BROWN
WHT/BROWN
DRAIN
K
L
E
F
C
D
A
B
N
R
S
G
H
M
P
V
J
T
U
A+ or
SIN+
Aor
SIN-
B+ or
B-
I+
I-
COS+ or
COSor
DATA+ or
DATA-
POWER (+5V)
COM
POWER (+9V)
TS+
TS-
S1
S2
S3
+LIMIT
-LIMIT
COM
N/C
N/C
MP-Series
Motor
K
J
L
H
T
U
M
G
S
A
N
V
P
B
C
D
R
E
F
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
Denotes twisted pair.
Connector backshell shielded 360˚
(both ends).
A
C
BR+
BR-
BRAKE
MOTOR BRAKE
CONNECTIONS
A
B
D
C
Motor
Brake Connector
B
A
D
C
W
V
U
GND
MOTOR POWER
CONNECTIONS
A
D
B
C
Motor
Power Connector
Publication 2098-IN003C-EN-P — July 2001
B-6
Ultra3000
A
B
BROWN
BLACK
U
V
C BLUE W
D GRN/YEL GND
2090-UXNPANxxSxx
Motor Power Cable
Interconnect Diagrams
Figure B.6
Ultra3000 to N-Series Motor Configuration (mating connector)
2090-UXNFBN-S xx
Motor Feedback Cable with 15-pin Connector
N-Series
Motor
5
10
14
3
4
1
2
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
CN2
6
ECOM
13
12
8
11
S2
S1
S3
TS+
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
7
9
15
GND
N/C
N/C
N/C
BLUE
WHT/BLUE
BROWN
WHT/BROWN
ORANGE
WHT/ORANGE
VIOLET
WHT/VIOLET
YELLOW
WHT/YELLOW
DRAIN
Pin 6
Pin 11
Pin 15
Pin 1
Pin 5
Pin 10
Feedback Cable Connector
Denotes twisted pair.
Connector backshell shielded 360˚
(both ends).
U
T
M
S
V
R
J
K
E
F
L
C
D
A
B
N
P
G
H
GND
N/C
N/C
N/C
N/C
A+
A-
B+
B-
I+
I-
+5V DC
+5V DC
COM
COM
TS-
HALL B+
HALL A+
HALL C+
TS+
A
B
C
BR+
BR-
N/C
BRAKE
MOTOR BRAKE
CONNECTIONS
K
J
L
H
T
U
M
G
S
A
N
V
P
B
C
D
R
E
F
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
C
A
B
Motor
Brake Connector
C
B
E
D
A
N/C
W
V
U
GND
MOTOR POWER
CONNECTIONS
E
A
B
D
C
Motor
Power Connector
Publication 2098-IN003C-EN-P — July 2001
Ultra3000
A
B
BROWN
BLACK
U
V
C BLUE W
D GRN/YEL GND
2090-UXNPANxxSxx
Motor Power Cable
Interconnect Diagrams
Figure B.7
Ultra3000 to N-Series Motor Configuration (flying leads)
B-7
2090-UXNFDN-S xx
Motor Feedback Cable with Flying Leads
CN2
3
4
1
2
5
10
8
AM+
AM-
BM+
BM-
IM+
IM-
N/C
S3
14
POWER (+5V)
6
13
12
11
6
ECOM
N/C
N/C
S2
S1
TS+
ECOM
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
ORANGE
WHT/ORANGE
GRAY
WHT/GRAY
BLUE
WHT/BLUE
BROWN
WHT/BROWN
VIOLET
WHT/VIOLET
DRAIN
H
V
E
F
G
C
D
A
B
L
M
K
J
R
S
U
T
N
P
Denotes twisted pair.
Connector backshell shielded 360˚
(both ends).
I+
I-
A+
A-
B+
B-
N/C
HALL C+
GROUND
+5V DC
+5V DC
COM
COM
HALL B+
HALL A+
TS+
TS-
N/C
N/C
A
B
C
BR+
BR-
N/C
BRAKE
N-Series
Motor
K
J
L
H
T
U
M
G
S
A
N
V
P
B
C
D
R
E
F
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
C
A
B
MOTOR BRAKE
CONNECTIONS
Motor
Brake Connector
C
B
E
D
A
N/C
W
V
U
GND
MOTOR POWER
CONNECTIONS
E
A
B
D
C
Motor
Power Connector
Publication 2098-IN003C-EN-P — July 2001
B-8
Ultra3000
A
B
BROWN
BLACK
U
V
C BLUE W
D GRN/YEL GND
Interconnect Diagrams
2090-UXNPAHFxxSxx
Motor Power Cable
Figure B.8
Ultra3000 to H and F-Series Motor Configuration (mating connector)
2090-UXNFBHF-S xx
Motor Feedback Cable with 15-pin Connector
H/F-Series
Motor
CN2
5
10
14
3
4
1
2
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
6
ECOM
13
12
8
11
S2
S1
S3
TS+
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
7
9
15
GND
N/C
N/C
N/C
BLUE
WHT/BLUE
BROWN
WHT/BROWN
ORANGE
WHT/ORANGE
VIOLET
WHT/VIOLET
YELLOW
WHT/YELLOW
DRAIN
Pin 6
Pin 11
Pin 15
Pin 1
Pin 5
Pin 10
Feedback Cable Connector
Denotes twisted pair.
Connector backshell shielded 360˚
(both ends).
GND
G
H
M
S
N
T
P
R
J
K
E
F
L
C
D
A
B
I+
I-
A+
A-
B+
B-
+5V DC
+5V DC
COM
COM
TS-
HALL B+
HALL A+
HALL C+
TS+
N/C
N/C
A
B
BR+
BR-
BRAKE
MOTOR BRAKE
CONNECTIONS
L
M
T
A
N
B
P
C
D
K
S R
E
J
F
H
G
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
B
A
Motor
Brake Connector
B
A
D
C
W
V
U
GND
MOTOR POWER
CONNECTIONS
D
C
A
B
Motor
Power Connector
Publication 2098-IN003C-EN-P — July 2001
Ultra3000
A
B
BROWN
BLACK
U
V
C BLUE W
D GRN/YEL GND
2090-UXNPAHFxxSxx
Motor Power Cable
Interconnect Diagrams
Figure B.9
Ultra3000 to H and F-Series Motor Configuration (flying leads)
B-9
CN2
3
4
1
2
5
10
8
AM+
AM-
BM+
BM-
IM+
IM-
N/C
S3
14
EPWR_5V
6
13
12
11
6
ECOM
N/C
N/C
S2
S1
TS
ECOM
2090-UXNFBHF-S xx
Motor Feedback Cable with Flying Leads
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
ORANGE
WHT/ORANGE
YELLOW
WHT/YELLOW
GRAY
WHT/GRAY
BLUE
WHT/BLUE
BROWN
WHT/BROWN
VIOLET
WHT/VIOLET
DRAIN
R
S
N
T
H
P
E
F
G
C
D
A
B
L
M
K
J
I+
I-
A+
A-
B+
B-
ABS
HALL C+
CASE
+5V DC
+5V DC
COM
COM
HALL B+
HALL A+
TS+
TS-
H/F-Series
Motor
L
M
T
A
N
B
P
C
D
K
S R
E
J
F
H
G
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
Denotes twisted pair.
Connector backshell shielded 360˚
A
B
BR+
BR-
BRAKE
B
A
MOTOR BRAKE
CONNECTIONS
Motor
Brake Connector
B
A
D
C
W
V
U
GND
MOTOR POWER
CONNECTIONS
D
C
A
B
Motor
Power Connector
Publication 2098-IN003C-EN-P — July 2001
B-10
Ultra3000
1
2
RED
BLACK
U
V
3 WHITE W
5 GRN/YEL GND
7
YELLOW
9
YELLOW
BR+
BR-
2090-UXNPAYxxSxx
Motor Power Cable
Interconnect Diagrams
Figure B.10
Ultra3000 to Y-Series Motor Configuration (mating connector)
2090-UXNFBY-S xx
Motor Feedback Cable with 15-pin Connector
CN2
5
10
14
6
3
4
1
2
13
12
8
11
7
9
15
S2
S1
S3
N/C
N/C
N/C
AM+
AM-
BM+
BM-
IM+
IM-
EPWR_5V
ECOM
N/C
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
GRAY
WHT/GRAY
BLUE
WHT/BLUE
BROWN
WHT/BROWN
Denotes twisted pair.
20 POS SCSI backshell shielded 360˚
I+
I-
A+
A-
B+
B-
+5V DC
COM
HALL B+
HALL A+
HALL C+
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
21
25
26
27
8
16
18
20
6
7
4
5
2
3
24
1
13
14
22
23
9
10
11
12
17
15
19
28
Pin 6
Pin 11
Pin 15
Pin 1
Pin 5
Pin 10
Feedback Cable Connector
Y-Series
Motor
9
15
21
4
1
26
3
28
8
14
20
25
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
3
1
5
3
9
7
2
1
BR-
BR+
BRAKE
W
V
U
GND
9 7
Motor
Power Connector
MOTOR POWER
AND BRAKE
CONNECTIONS
Publication 2098-IN003C-EN-P — July 2001
Ultra3000
1
2
3
RED
BLACK
WHITE
5 GRN/YEL GND
U
V
W
7
YELLOW
9
YELLOW
BR+
BR-
2090-UXNPAYxxSxx
Motor Power Cable
Interconnect Diagrams
Figure B.11
Ultra3000 to Y-Series Motor Configuration (flying leads)
B-11
CN2
14
6
5
10
12
13
8
3
4
1
2
S3
N/C
N/C
N/C
BM+
BM-
IM+
IM-
S1
S2
EPWR_5V
ECOM
N/C
N/C
N/C
N/C
AM+
AM-
2090-UXNFDY-S xx
Motor Feedback Cable with Flying Leads
GRAY
WHT/GRAY
BROWN
WHT/BROWN
YELLOW
WHT/YELLOW
BLACK
WHT/BLACK
RED
WHT/RED
GREEN
WHT/GREEN
ORANGE
WHT/ORANGE
BLUE
WHT/BLUE
VIOLET
WHT/VIOLET
DRAIN
Denotes twisted pair
22
23
+5V DC
COM
14
15
17
19
9
10
11
12
13
A+
A-
B+
B-
I+
I-
HALL A+
HALL B+
HALL C+
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
N/C
25
26
27
28
16
18
20
21
6
7
4
5
8
2
3
24
1
Y-Series
Motor
9
15
21
4
1
26
3
28
8
14
20
25
Motor
Feedback Connector
MOTOR
FEEDBACK
CONNECTIONS
3 1
5
3
9
7
2
1
BR-
BR+
BRAKE
W
V
U
GND
9
7
Motor
Power Connector
MOTOR POWER
AND BRAKE
CONNECTIONS
Publication 2098-IN003C-EN-P — July 2001
B-12
Interconnect Diagrams
Ultra3000 Power Wiring
Diagrams
This section provides information to assist you with AC input and motor power wiring to your Ultra3000 drive.
Figure B.12
Typical Power Wiring of Ultra3000 System
(2098-DSD-005x-xx, -010x-xx, and -020x-xx)
Publication 2098-IN003C-EN-P — July 2001
AC LINE FIL
AC LINE FIL
AC LINE FIL
Figure B.13
Typical Power Wiring of Ultra3000 System
(2098-DSD-030x-xx)
Interconnect Diagrams B-13
Publication 2098-IN003C-EN-P — July 2001
B-14
Interconnect Diagrams
Figure B.14
Typical Power Wiring of Ultra3000 System
(2098-DSD-075x-xx)
Publication 2098-IN003C-EN-P — July 2001
Figure B.15
Typical Power Wiring of Ultra3000 System
(2098-DSD-150x-xx)
Interconnect Diagrams B-15
Publication 2098-IN003C-EN-P — July 2001
B-16
Interconnect Diagrams
Figure B.16
Typical Power Wiring of Ultra3000 System
(2098-DSD-HVxxx-xx and -HVxxxX-xx)
Publication 2098-IN003C-EN-P — July 2001
Start/Stop String
Configuration Diagram
Examples
Interconnect Diagrams B-17
This section provides information to assist you in using the configurable Drive Ready output in a start/stop string. The figures illustrate examples of how the start/stop string can be implemented.
Refer to Figure 2.15 in the chapter Ultra3000 Connector Data for more
information on the digital relay output.
24V dc Start/Stop String Examples
The 24V dc start/stop string wired to the Ultra3000 drives
(2098-DSD-005x-xx, -010x-xx, or -020x-xx) is shown in the figure below.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Single-Phase
AC Line
50/60 Hz
Fuse
Block
Ultra3000
Figure B.17
24V dc Single-Phase Start/Stop String Example
CN1
43
START
STOP
M1
L1
L2/N
44
CR1
CR1
Refer to Attention statement above
CN1
43
N.O. Relay Output+
44
N.O. Relay Output-
3
Aux Logic Power In +5V
2
Aux +5V Common
CR1
M1
24V DC
Note: Relay Output (CN1, pins 43 and 44) must be configured as
Ready in Ultraware software and auxiliary +5V power is required.
Publication 2098-IN003C-EN-P — July 2001
B-18
Interconnect Diagrams
The 24V dc start/stop string wired to the Ultra3000 drives
(2098-DSD-030x-xx) is shown in the figure below.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Figure B.18
24V dc Single-Phase Start/Stop String Example
Ultra3000
Internal
External
Shunt
TB2
1
2
3
Single-Phase
AC Line 50/60 Hz
Fuse
Block
DC Bus
M1
L1
L2/N
L1 Aux
L2/N Aux
100-240 VAC
50/60 Hz
Motor
TB1
+
-
L1
L2/N
L1
AUX
L2/N
AUX
U
V
W
CN1
43
44
START
STOP
CR1
CR1
CR1
Refer to Attention statement above
M1
24V DC
43
N.O. Relay Output+
CN1
44
N.O. Relay Output-
Note: Relay Output (pins 43 and 44) must be configured as Ready in
Ultraware software.
Publication 2098-IN003C-EN-P — July 2001
Interconnect Diagrams B-19
The 24V dc start/stop string wired to the Ultra3000 drives
(2098-DSD-075x-xx, -150x-xx, -HVxxx-xx, and -HVxxxX-xx) is shown in the figure below.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Figure B.19
24V dc Three-Phase Start/Stop String Example
Three-Phase
AC Line
50/60 Hz
Ultra3000
Internal
External
Shunt
TB2
1
2
3
Ultra3000
Motor
Fuse
Block
DC Bus
M1
L1
L2
L3
L1 Aux
L2/N Aux
100-240 VAC
50/60 Hz
TB1
-
+
L1
L2
L3
L1
AUX
L2/N
AUX
U
V
W
CN1
43
44
START
STOP
CR1
CR1
CR1
Refer to Attention statement above
M1
24V DC
43
N.O. Relay Output+
CN1
44
N.O. Relay Output-
Note: Relay Output (pins 43 and 44) must be configured as Ready in
Ultraware software.
Publication 2098-IN003C-EN-P — July 2001
B-20
Interconnect Diagrams
120V ac Start/Stop String Examples
The 120V ac start/stop string wired to the Ultra3000 drives
(2098-DSD-005x-xx, -010x-xx, or -020x-xx) is shown in the figure
below. Refer to Figure 2.15 in the chapter Ultra3000 Connector Data
for more information on the digital relay output.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Figure B.20
120V ac Single-Phase Start/Stop String Example
Ultra3000
Single-Phase
AC Line
50/60 Hz
Fuse
Block
M1
L1
L2/N
CR2
START
STOP
CR1
CR1
CR1
Refer to Attention statement above
M1
CN1
43
N.O. Relay Output+
44
N.O. Relay Output-
3
Aux Logic Power In +5V
2
Aux +5V Common
CR2
120V AC
50/60 Hz
24V DC
Note: Relay Output (CN1, pins 43 and 44) must be configured as
Ready in Ultraware software and auxiliary +5V power is required.
Publication 2098-IN003C-EN-P — July 2001
Interconnect Diagrams B-21
The 120V ac start/stop string wired to the Ultra3000 drives
(2098-DSD-030x-xx) is shown in the figure below.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Figure B.21
120V ac Single-Phase Start/Stop String Example
Ultra3000
Internal
External
Shunt
TB2
1
2
3
Single-Phase
AC Line 50/60 Hz
Motor
Fuse
Block
DC Bus
M1
L1
L2/N
L1 Aux
L2/N Aux
100-240 VAC
50/60 Hz
TB1
+
-
L1
L2/N
L1
AUX
L2/N
AUX
U
V
W
CR2
START
STOP
CR1
CR1
CR1
Refer to Attention statement above
M1
120V AC
50/60 Hz
43
N.O. Relay Output+
CN1
44
N.O. Relay Output-
CR2
24V DC
Note: Relay Output (pins 43 and 44) must be configured as Ready in
Ultraware software.
Publication 2098-IN003C-EN-P — July 2001
B-22
Interconnect Diagrams
The 120V ac start/stop string wired to the Ultra3000 drives
(2098-DSD-075x-xx, -150x-xx, -HVxxx-xx, and -HVxxxX-xx) is shown in the figure below.
ATTENTION
!
Implementation of safety circuits and risk assessment is the responsibility of the machine builder. Please reference international standards EN1050 and EN954 estimation and safety performance categories. For more information refer to Understanding the
Machinery Directive (publication SHB-900).
Figure B.22
120V ac Three-Phase Start/Stop String Example
Three-Phase
AC Line
50/60 Hz
Ultra3000
Internal
External
Shunt
TB2
1
2
3
Ultra3000
Motor
Fuse
Block
DC Bus
M1
L1
L2
L3
L1 Aux
L2/N Aux
100-240 VAC
50/60 Hz
TB1
-
+
L1
L2
L3
L1
AUX
L2/N
AUX
U
V
W
Controlling a Brake
CR2
START
STOP
CR1
CR1
CR1
Refer to Attention statement above
M1
120V AC
50/60 Hz
43
N.O. Relay Output+
CN1
44
N.O. Relay Output-
CR2
24V DC
Note: Relay Output (pins 43 and 44) must be configured as Ready in
Ultraware software.
The relay output of the Ultra3000 is suitable for directly controlling a motor brake, subject to the relay voltage limit of 30V dc, and the relay current limit of 1A dc. For brake requirements outside of these limits, an external relay must be used. If a transistor output is used, a control relay is also required.
Publication 2098-IN003C-EN-P — July 2001
Ultra3000
Interconnect Diagrams B-23
The following table lists Allen-Bradley motors that are compatible with the internal relay output (CN1, pins 43 and 44), when used for controlling a brake.
Compatible Brake Motors
F-4030, F-4050, and F-4075
H-3007 and H-3016
H-4030, H-4050, and H-4075
Y-1002 and Y-1003
Y-2006 and Y-2012
Y-3023
MPL-A310, MPL-A320, and MPL-A330
MPL-A420, MPL-A430, MPL-A4520, MPL-A4530, and
MPL-A4540
Brake Current
0.88A
0.60A
0.69A
0.26A
0.31A
0.37A
0.50A
0.64A
Figure B.23 shows an example configuration using Digital Output 1
and control relay to control a motor brake with a transistor output.
Figure B.23
Example Configuration Controlling a Motor Brake
Power Supply
3A @ 24V dc
+
_
29
I/O Power
27
I/O Common
CR1
1
CN1
39
Digital Output 1
2
28
I/O Common
CR1
Brake
Feedback
Power
1
Flyback diode (1N4004 rated 1.0A @ 400V dc) suppresses collapsing field of brake coil.
2
Digital Output 1 (pin 39) configured as Brake in Ultraware.
Servo
Motor
For Digital Output 1 specifications, refer to Figure 2.14 in the chapter
IMPORTANT
Flyback diodes must be used when controlling a brake coil with the relay or digital output.
Publication 2098-IN003C-EN-P — July 2001
B-24
Interconnect Diagrams
Grounding for Ultra3000 CE
Requirements
This section provides information to assist you in complying with CE requirements. Refer to the figure below for Ultra3000 CE requirements.
Single- or Three-Phase
Mains with
Ground
Conduit Clamp
Filtered Conductors
Figure B.24
Ultra3000 CE Requirements
Ground Conduit to Enclosure
E
1
Unfiltered
Conductors
User Supplied
Discrete I/O
User Supplied
24V
Power Source
Single-Phase
Discrete I/O
2
Enclosure
Bonded Cabinet
Ground Bus
3
Enclosure
4
F, H, MP, N, Y or
1326AB-Bxxxx-M, -S Series Motor
1
Mount the filter as close to the Ultra3000 as possible. If the distance exceeds 600 mm (2.0 ft), use a strap (greater in width than length) rather than a wire, to connect the ground between the Ultra3000 and the filter. This is particularly important for attenuation of higher frequency emissions (5-30 MHz).
Shield or separate the wires connecting the AC power to the filter from other power cables (e.g., connections between the Ultra3000 and the filter, motor power cable, etc.). The best method of achieving this is to mount the filter near where the AC power enters the enclosure. If the connections are not separated from each other, the
EMI on the Ultra3000 side of the filter can couple over to the source side of the filter, thereby reducing or eliminating the filter’s effectiveness. The coupling mechanism can radiate or allow stray capacitance between the wires.
Filters need to be on all lines for filtering to be effective. When multiple power cables enter an enclosure, an unfiltered line can contaminate a filtered line.
Bond the filter and the Ultra3000 to a grounded conductive surface (the enclosure) to establish a high frequency
(HF) connection. To achieve the HF ground, the contact surface interface between the filter, Ultra3000, and the enclosure should be free from paint or any other type of insulator.
2
The filter shown is sized for one Ultra3000. Equivalent filters may be used for multiple units. Size the filter following the manufacturers recommendations.
3
Ground bar is customer-supplied item.
4
Clamp motor power cable shield for EMC termination.
IMPORTANT
All AC power in the cabinet must be filtered to reduce EMI.
ATTENTION
!
High voltage exists in AC line filters. The filter must be grounded properly before applying power. Filter capacitors retain high voltages after power removal.
Before handling the equipment, voltages should be measured to determine safe levels. Failure to observe this precaution could result in personal injury.
Publication 2098-IN003C-EN-P — July 2001
Interconnect Diagrams B-25
Ultra3000 to Shunt Module
Interconnect Diagrams
This section provides information to assist you in wiring the active or passive shunt module when connecting to your Ultra3000 230V drive
(2098-DSD-xxx-xx or -xxxX-xx).
Ultra3000 to 300W Active Shunt Module
Use the 2090-UCSR-A300 active shunt module with the Ultra3000 drives (2098-DSD-005x-xx, -010x-xx, and -020x-xx).
Figure B.25
Wiring the 300W Active Shunt Module
2090-UCSR-A300
Active Shunt
Module
DC+
DC-
L1
L2/N
GND
2098-DSD-005 x-xx,
-010 x-xx, or -020x-xx
Ultra3000 Drive
DC+
DC-
L1
L2/N
GND
Use shielded, high temperature 75
°
C (167
°
F), 600V, 2.5-4.0 mm
2
(12-14 AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise:
•
Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible.
•
Use shielded, twisted cable (ground shield at shunt and drive).
•
Use shielded metal conduit (ground conduit at shunt and drive).
For more information, refer to the 300 Watt Active Shunt Regulator
Installation Instructions (publication 2090-IN002x-EN-P).
Publication 2098-IN003C-EN-P — July 2001
B-26
Interconnect Diagrams
Ultra3000 to 200W Passive Shunt Module
Use the 2090-UCSR-P200 passive shunt module with the Ultra3000 drives (2098-DSD-030x-xx).
Figure B.26
Wiring the 200W Passive Shunt Module
2090-UCSR-P200
Passive Shunt
Module
Internal
External
Shunt
TB2
1
2
3
2098-DSD-030 x-xx
Ultra3000 Drive
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
+
-
L1
L2/N
L1
AUX
L2/N
AUX
U
V
W
Use shielded, high temperature 75
°
C (167
°
F), 600V, 2.5 mm
2
(14
AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise:
•
Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible.
•
Use shielded, twisted cable (ground shield at shunt and drive).
•
Use shielded metal conduit (ground conduit at shunt and drive).
For more information, refer to the 200 Watt Passive Shunt Module
Installation Instructions (publication 2090-IN003x-EN-P).
Publication 2098-IN003C-EN-P — July 2001
Interconnect Diagrams B-27
Ultra3000 to 900W Passive Shunt Module
Use the 2090-UCSR-P900 passive shunt module with the Ultra3000 drives (2098-DSD-075x-xx).
Figure B.27
Wiring the 900W Passive Shunt Module
2090-UCSR-P900
Passive Shunt
Module Internal
External
Shunt
TB2
1
2
3
2098-DSD-075 x-xx
Ultra3000 Drive
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
-
+
L1
L2
L3
L1
AUX
L2/N
AUX
U
V
W
Use shielded, high temperature 75
°
C (167
°
F), 600V, 10 mm
2
(8
AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise:
•
Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible.
•
Use shielded, twisted cable (ground shield at shunt and drive).
•
Use shielded metal conduit (ground conduit at shunt and drive).
For more information, refer to the 900 Watt Passive Shunt Module
Installation Instructions (publication 2090-IN001x-EN-P).
Publication 2098-IN003C-EN-P — July 2001
B-28
Interconnect Diagrams
Ultra3000 to Two 900W Passive Shunt Module
Use one or two 2090-UCSR-P900 passive shunt modules with the
Ultra3000 drives (2098-DSD-150x-xx). When two 900W shunt modules are connected in parallel, the shunt capacity is doubled for a total of
1800W of continuous power dissipation on the DC bus.
ATTENTION
!
Do not connect more than two 900W shunts with your 2098-DSD-150x-xx drive, or damage to the drive will result.
Figure B.28
Wiring Two 900W Passive Shunt Modules
2090-UCSR-P900
Passive Shunt
Modules
Internal
External
Shunt
TB2
1
2
3
2098-DSD-150 x-xx
Ultra3000 Drive
Motor
DC Bus
100-240 VAC
50/60 Hz
TB1
-
+
L1
L2
L3
L1
AUX
L2/N
AUX
U
V
W
Use shielded, high temperature 75
°
C (167
°
F), 600V, 10 mm
2
(8
AWG), 3.05 m (10 ft) maximum, copper wire. Follow one of the methods given below to reduce the effects of EMI noise:
•
Install wires using twisted pairs (two turns per foot minimum), as shown in the figure above. Keep unshielded wires as short as possible.
•
Use shielded, twisted cable (ground shield at shunt and drive).
•
Use shielded metal conduit (ground conduit at shunt and drive).
For more information, refer to the 900 Watt Passive Shunt Module
Installation Instructions (publication 2090-IN001x-EN-P).
Publication 2098-IN003C-EN-P — July 2001
1
Chapter Objectives
Catalog Numbers and Accessories
Appendix
C
This appendix lists the Ultra3000 drives and accessory items in tables by catalog number providing detailed descriptions of each component. This appendix describes catalog numbers for:
•
Ultra3000 drives
•
Ultraware software
•
AC line filters
•
External shunt kits
•
Motor power cables
•
SERCOS Interface fiber optic cables
•
Motor feedback cables
•
Ultra3000 interface cables
•
Mating connector kits
•
Breakout boards, cables, and kits
•
MP-Series motor brake cable
Contact your local Allen-Bradley sales office for additional information. Refer to the Motion Control Selection Guide (publication
GMC-SG001x-EN-P) for details on products.
Publication 2098-IN003C-EN-P — July 2001
C-2
Catalog Numbers and Accessories
Ultra3000 Drives
Use the following table to identify Ultra3000 240V drives with ratings of 500W, 1 kW, and 2 kW where -xxx equals 005, 010, or 020.
Description
Ultra3000 Digital Servo Drive
Ultra3000i Digital Servo Drive (with Indexing)
Ultra3000 Digital Servo Drive (with SERCOS)
Ultra3000 Digital Servo Drive (with DeviceNet)
Ultra3000 Digital Servo Drive (with DeviceNet and Indexing)
Catalog Number
2098-DSD-xxx
2098-DSD-xxxX
2098-DSD-xxx-SE
2098-DSD-xxx-DN
2098-DSD-xxxX-DN
Use the following table to identify Ultra3000 240V drives with ratings of 3 kW, 7.5 kW, and 15 kW where -xxx equals 030, 075, or 150.
Description
Ultra3000 Digital Servo Drive
Ultra3000i Digital Servo Drive (with Indexing)
Ultra3000 Digital Servo Drive (with SERCOS)
Ultra3000 Digital Servo Drive (with DeviceNet)
Ultra3000 Digital Servo Drive (with DeviceNet and Indexing)
Catalog Number
2098-DSD-xxx
2098-DSD-xxxX
2098-DSD-xxx-SE
2098-DSD-xxx-DN
2098-DSD-xxxX-DN
Use the following table to identify Ultra3000 460V drives with ratings of 3 kW, 5 kW, 10 kW, 15 kW, and 22 kW where -xxx equals 030, 050,
100, 150, or 220.
Description
Ultra3000 Digital Servo Drive
Ultra3000i Digital Servo Drive (with Indexing)
Ultra3000 Digital Servo Drive (with SERCOS)
Ultra3000 Digital Servo Drive (with DeviceNet)
Ultra3000 Digital Servo Drive (with DeviceNet and Indexing)
Catalog Number
2098-DSD-HVxxx
2098-DSD-HVxxxX
2098-DSD-HVxxx-SE
2098-DSD-HVxxx-DN
2098-DSD-HVxxxX-DN
Ultraware Software
The Ultra3000 drives are configured using Ultraware. Ultraware is a
Windows
based application that allows drive configuration to be done off-line and saved to disk.
Description
Ultraware Software
Catalog Number
2098-UWCPRG
Publication 2098-IN003C-EN-P — July 2001
AC Line Filters
External Shunt Kits
Catalog Numbers and Accessories
Use the following table to identify the AC Line Filter for your application.
AC Line Filter Description
6 Amp, Single phase, 240V
10 Amp, Single phase, 240V
23 Amp, Single phase, 240V
36 Amp, Single phase, 240V
36 Amp, Three phase, 240V
50 Amp, Single phase, 240V
50 Amp, Three phase, 240V
70 Amp, Three phase, 240V
23 Amp, Three phase, 480V
30 Amp, Three phase, 480V
50 Amp, Three phase, 480V
AC Line
Filter Fuse
Block
6 Amp
10 Amp
23 Amp
36 Amp
36 Amp
50 Amp
50 Amp
70 Amp
23 Amp
30 Amp
50 Amp
Roxburgh
Part
Number
MIF06
MIF10
MIF23
MDF36
MDF336
MDF50
MDF350
MDF370
MIF323
MIF330
MIF350
Catalog Number
2090-UXLF-106
2090-UXLF-110
2090-UXLF-123
2090-UXLF-136
2090-UXLF-336
2090-UXLF-150
2090-UXLF-350
2090-UXLF-370
2090-UXLF-HV323
2090-UXLF-HV330
2090-UXLF-HV350
C-3
Use the following table to identify the external shunt kit for your application.
This Shunt Module:
Active Shunt Module (300W)
Passive Shunt Module (200W)
Passive Shunt Module (900W)
Is used on these Ultra3000 drives:
All 2098-DSD-005, -010, -020
All 2098-DSD-030, -075, -150
All 2098-DSD-075, -150
Catalog Number:
2090-UCSR-A300
2090-UCSR-P200
2090-UCSR-P900
Publication 2098-IN003C-EN-P — July 2001
C-4
Cables
Catalog Numbers and Accessories
Use the following tables to identify motor power, feedback, interface, and brake cables for your Ultra3000 with 115/230V motors. Length of cable xx is in meters (01, 03, 09, 15, and 30) unless otherwise noted.
Motor Power Cables
Description
H-Series Motor Power Cable, non flex, 16 AWG, straight
H-Series Motor Power Cable, non-flex, 16 AWG, right angle
H-Series Motor Power Cable, non-flex, 6 AWG, straight
H-Series Motor Power Cable, non-flex, 6 AWG, right angle
H and F-Series Motor Power Cable, non flex, 14 AWG, straight
H and F-Series Motor Power Cable, non-flex, 14 AWG, right angle
H and F-Series Motor Power Cable, non flex, 10 AWG, straight
H and F-Series Motor Power Cable, non-flex, 10 AWG, right angle
H and F-Series Motor Power Cable, non-flex, 8 AWG, straight
H and F-Series Motor Power Cable, non-flex, 8 AWG, right angle
MP-Series Motor Power Cable, non flex, 16 AWG, straight
MP-Series Motor Power Cable, non flex, 14 AWG, straight
MP-Series Motor Power Cable, non flex, 10 AWG, straight
N-Series Motor Power Cable, non flex, 16 AWG, straight
N-Series Motor Power Cable, non-flex, 16 AWG, right angle
Y-Series Motor Power Cable, non flex, 16 AWG, straight
Catalog Number
2090-UXNPAH-16Sxx
2090-UXNPAH-16Rxx
2090-UXNPAH-6Sxx
2090-UXNPAH-6Rxx
2090-UXNPAHF-14Sxx
2090-UXNPAHF-14Rxx
2090-UXNPAHF-10Sxx
2090-UXNPAHF-10Rxx
2090-UXNPAHF-8Sxx
2090-UXNPAHF-8Rxx
2090-UXNPAMP-16Sxx
2090-UXNPAMP-14Sxx
2090-UXNPAMP-10Sxx
2090-UXNPAN-16Sxx
2090-UXNPAN-16Rxx
2090-UXNPAY-16Sxx
SERCOS Interface Fiber Optic Cables
Use the following table to identify the SERCOS interface fiber optic plastic cables for your Ultra3000. Connectors are provided at both ends. Length of cable x-x is in meters (0-3, 1-0, 3-0, 5-0, 8-0, 10-0,
15-0, 20-0, 25-0, 32-0, 50-0, 100-0, 150-0, and 200-0).
Description
SERCOS fiber optic plastic cable (for use inside enclosure only)
SERCOS fiber optic plastic (PVC) cable (for use outside enclosure)
SERCOS fiber optic plastic (nylon) cable (for use outside enclosure in harsh environments)
SERCOS fiber optic glass (PVC) cable
Catalog Number
2090-SCEPx-x
2090-SCVPx-x
2090-SCNPx-x
2090-SCVGx-x
Note: Lengths of 0.3 m (1.0 ft) to 32 m (105.0 ft) are available in plastic or glass. Lengths of 50 m (164.2 ft) to
200 m (656.7 ft) are available in glass only.
Publication 2098-IN003C-EN-P — July 2001
Catalog Numbers and Accessories
Motor Feedback Cables
Description
H-Series Motor Feedback Cable, non-flex, connector at both ends, right angle
H-Series Motor Feedback Cable, non-flex, motor connector to flying leads, right angle
H and F-Series Motor Feedback Cable, non-flex, connector at both ends, straight
H and F-Series Motor Feedback Cable, non-flex, motor connector to flying leads, straight
H and F-Series Motor Feedback Cable, non-flex, connector at both ends, right angle
H and F-Series Motor Feedback Cable, non-flex, connector at both ends, right angle, skewed
MP-Series Motor Feedback Cable, non-flex, connector at both ends, straight
1326AB-Bxxxx-M or -S Motor Feedback Cable, non-flex, connector at both ends, straight
MP-Series Motor Feedback Cable, non-flex, motor connector to flying leads, straight
1326AB-Bxxxx-M or -S Motor Feedback Cable, non-flex, motor connector to flying leads, straight
N-Series Motor Feedback Cable, non-flex, connector at both ends, straight
N-Series Motor Feedback Cable, non-flex, motor feedback connector to flying leads, straight
N-Series Motor Feedback Cable, non-flex, connector at both ends, right angle
N-Series Motor Feedback Cable, non-flex, connector at both ends, right angle, skewed
N-Series Motor Feedback Cable, non-flex, connector at both ends, right angle, skewed
N-Series Motor Feedback Cable, non-flex, motor connector to flying leads, right angle, skewed
N-Series Motor Feedback Cable, non-flex, motor connector to flying leads, right angle
Y-Series Motor Feedback Cable, non-flex, connector at both ends, straight
Y-Series Motor Feedback Cable, non-flex, motor feedback connector to flying leads, straight
Drive Feedback Cable, non-flex, CN2 connector to flying leads, straight
Catalog Number
2090-UXNFBH-Rxx
2090-UXNFDH-Rxx
2090-UXNFBHF-Sxx
2090-UXNFDHF-Sxx
2090-UXNFBHF-Rxx
2090-UXNFBHF-Kxx
2090-UXNFBMP-Sxx
2090-UXNFDMP-Sxx
2090-UXNFBN-Sxx
2090-UXNFDN-Sxx
2090-UXNFBN-Rxx
2090-UXNFBN-Kxx
2090-UXNFBN23-Kxx
2090-UXNFDN23-Kxx
2090-UXNFDN-Rxx
2090-UXNFBY-Sxx
2090-UXNFDY-Sxx
2090-UXNFM-Sxx
C-5
Ultra3000 Interface Cables
Description
Serial Interface Cable, 9-pin D-shell, CN3 to personal computer.
Controller Interface Cable, 44-pin D-shell, CN1 to no connector.
Catalog Number
2090-UXPC-D09xx
2090-U3CC-D44xx
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C-6
Catalog Numbers and Accessories
Mating Connector Kits
The Ultra3000 has one serial connector, one motor feedback connector, and one controller connector. Use the following table to identify the mating connector kits for your Ultra3000. Refer to the
chapter Ultra3000 Connector Data for pin signal, and wiring
information.
Description
Mating Connector Kit (9-pin D-shell)
Mating Connector Kit (15-pin high density D-shell)
Mating Connector Kit (44-pin high density D-shell)
Catalog Number
2090-UXCK-D09
2090-UXCK-D15
2090-U3CK-D44
The following table lists Amp mating connectors that are not available from Rockwell Automation. Please contact Amp at 1-800-522-6752 or a distributor for additional information.
Connector
Components
Mating Connector 748366-1
Crimp Pin
Contacts
Unshielded
Backshell Kit
748333-4
748678-3
1
Shielded
Backshell Kit
Ferrules
3
CN1 Controller
44-Pin
High-Density
D-Shell
745173-3
745508-1
CN2 Motor Feedback
15-Pin
High-Density
D-Shell
748364-1
748333-4
748678-1
745171-5
745508-6
1
Accepts 22-28 AWG wire.
2
Accepts 20-24 AWG wire.
3
Ferrules are only required for use with shielded backshell kits.
1
CN3 Serial
9-Pin
Standard-Density
D-Shell
205204-4
5-66506-7
2
748678-1
745171-5
745508-6
Publication 2098-IN003C-EN-P — July 2001
Catalog Numbers and Accessories
C-7
Break Out Boards, Cables, and Kits
Use the following table to identify your break out board components.
Description
Break Out Board, 15-pin, high density D-shell, CN2.
Break Out Board Cable, 15-pin, high density D-shell, CN2. Length of cable xx is in meters (01, 03, 09, and 15).
Break Out Board Kit. Contains CN2 break out board and cable.
Drive mounted Break Out Board for 15-pin CN2 connector.
Break Out Board, 44-pin, high density D-shell, CN1.
Break Out Board Cable, 44-pin, high density D-shell, CN1. Length of cable xx is in meters (01, 03, and 09)
Break Out Board Kit. Contains CN1 break out board and cable.
Drive mounted Break Out Board for 44-pin CN1 connector.
Drive mounted Break Out Board for 9-pin CN3 connector.
Catalog Number
2090-UXBB-D15
2090-UXBC-D15xx
2090-UXBK-D15xx
2090-UXBB-DM15
2090-U3BB-D44
2090-U3BC-D44xx
2090-U3BK-D44xx
2090-U3BB-DM44
2090-UXBB-DM09
MP-Series Motor Brake Cable
Description
MP-Series motor brake cable, 0.75 mm
2
(18 AWG)
Catalog Number
2090-UXNBMP-18Sxx
Publication 2098-IN003C-EN-P — July 2001
C-8
Catalog Numbers and Accessories
Publication 2098-IN003C-EN-P — July 2001
1
Index
Numerics
1756-M02AE cable diagram
1756-M08SE interface module
2090-U3AE-D44 cable
A
AC
Input current
power
AC line filters
Altitude
analog COMMAND input
analog ILIMIT input
analog output
auxiliary encoder feedback
auxiliary encoder specifications
+5V logic power supply
buffered encoder outputs
unbuffered encoder outputs
B
baud rate
before mounting your system
bonding mounting
subpanels
brake
brake cables, MP-series
break out boards drive mounted
building your own cables
Ultra3000 to N-series motor
Ultra3000 to servo module
Ultra3000 to Y-series motor
catalog numbers
AC line filters
break out boards, cables, and kits
external shunt kit
fiber optic cables
interface cables
mating connector kits
motor feedback cables
motor power cables
MP-series brake cables
Ultra3000 accessories
Ultra3000 drives
Ultraware software
catalog numbers and accessories
CE
filter requirements
grounding requirements
Low Voltage Directive
meeting requirements
preparing CE clamp
complying with CE
EMC directive
connecting your Ultra3000
connector front panel connectors
mating connectors
contents of manual
controlling a brake
conventions used in this manual
C
cables break out board cable
building your own cables
connecting fiber optic
fiber optic cable length
fiber optic cables
interface cables
motor feedback cables
motor power
MP-series brake cables
Ultra3000 drive and motor cable combinations
Ultra3000 to H/F-series motor
Ultra3000 to MP-series motor
D
data rate
DeviceNet cable
connector
network
digital outputs, hardware configuration
digital relay output
dimensions
2098-DSD-005 and -005X
Publication 2098-IN003C-EN-P — July 2001
I-2
Index
Publication 2098-IN003C-EN-P — July 2001
2098-DSD-005-SE, -005-DN, and -005X-DN
2098-DSD-010, -010X, -020, and -020X
2098-DSD-010-SE and -020-SE,
-010-DN, -010X-DN, and
-020X-DN
2098-DSD-030, -030X, -030-SE,
-030-DN, and -030X-DN
2098-DSD-075, -075X, -075-SE,
-075-DN, and -075X-DN
2098-DSD-150, -150X, -150-SE,
-150-DN and -150X-DN
2098-DSD-HV030x-xx and
-HV050x-xx
2098-DSD-HV100x-xx and
-HV150x-xx
2098-DSD-HV220-xx and
-HV220X-xx
drive ready
-010X, -020, and -020X
2098-DSD-005-DN, -005X-DN,
-010-DN, -010X-DN,
-020-DN, and -020X-DN
2098-DSD-005-SE, -010-SE, and
-020-SE
2098-DSD-030 and -030X
2098-DSD-030-DN, and
-030X-DN
2098-DSD-030-SE
2098-DSD-075, -075X, -150, and -150X
2098-DSD-075-DN, -075X-DN,
-150-DN, and -150X-DN
2098-DSD-075-SE and -150-SE
2098-DSD-HVxxx and HVxxxX
2098-DSD-HVxxx-DN and
-HVxxxX-DN
2098-DSD-HVxxx-SE
with DeviceNet
with SERCOS
fuse sizing
E
EMC cable shield (bottom of drive)
cable shield (front of drive)
motor ground termination, F,
H, MP, and N-series motors
motor ground termination,
Y-series motors
EMI (ElectroMagnetic
Interference) bonding
enclosure sizing
external shunt kit
F
fiber optic cables
cable lengths
receive and transmit connectors
filter, AC power
flyback diodes
front panel connections
,
,
,
,
2098-DSD-005, -005X, -010, grounding cable shield (bottom of drive)
cable shield (front of drive)
CE requirements
multiple subpanels
system to subpanel
heat losses for sizing enclosures
high frequency energy
Humidity
I
G
H
installing your Ultra3000
interconnect diagrams controlling a brake example
shunt module
300W
two 900W for 15 kW drive
Index I-3 shunt module 200W
shunt module 900W
Ultra3000 drive and motor cable combinations
Ultra3000 to H/F-series motor
Ultra3000 to MP-series motor
Ultra3000 to N-series motor
Ultra3000 to servo module
Ultra3000 to Y-series motor
interface cables
introduction
L
Low Voltage Directive
M
mating connectors
motor encoder specifications
AM, BM, and IM inputs
auxiliary encoder
connections
encoder phasing
Hall inputs
limit inputs
thermostat input
motor feedback cables
motor power cables
mounting before mounting
bonding
procedure
system requirements
N
network cable system
data rate
noise see bonding
O
Output Current
Continuous (peak)
,
Peak
overload protection
P
pin-outs motor encoder connector
,
,
serial connector
,
,
terminal block
Ultra3000 I/O connector
with DeviceNet I/O connector
,
with SERCOS I/O connector
,
power losses
Output Continuous
,
power dissipation
purpose of this manual
R
related documentation
Controllogix motion module programming manual
ControlLogix motion module setup and configuration manual
DeviceNet cable system planning and installation manual
ICP 8 axis SERCOS interface module installation instructions
Logix5000 controller motion instruction set reference manual
Ultra3000 DeviceNet reference manual
Ultra3000 digital servo drives integration manual
Ultraware CD installation instructions
Ultraware user manual
relay output
Publication 2098-IN003C-EN-P — July 2001
I-4
Index
Publication 2098-IN003C-EN-P — July 2001
RS-232
RS-422
RS-485
S
SERCOS fiber optic cable
serial interface specifications
default serial interface settings
restoring drive communications
serial port
Shock
shunt resistor interconnect diagram
200W
300W
900W
two 900W for 15 kW drive
wiring external shunt
wiring internal shunt
specifications
AC Input current
,
Altitude
auxiliary feedback
communications
connectors
control
digital I/O power supply
general power
Humidity
I/O
I/O digital outputs
I/O, digital inputs
inputs and outputs
motor encoder feedback
motor feedback
Output Current Continuous
(peak)
,
Peak output current
physical and environmental
power dissipation
Power Output Continuous
,
,
Shock
Storage Temperature
Vibration
start/stop string
120V single-phase, 0.5, 1, and 2 kW
120V single-phase, 3 kW
120V three-phase, 7.5 and 15 kW
24V single-phase, 0.5, 1, and 2 kW
24V single-phase, 3 kW
24V three-phase, 7.5 and 15 kW
storage before installation
responsibility
Temperature
support local product
technical product assistance
system mounting requirements
fuse sizing
minimum clearances
spacing
transformer sizing
ventilation
T
terminal block pin-outs
terminal block connections
torque values
transformer sizing
U
Ultra3000 accessories catalog numbers
Ultra3000 drives
Ultraware software
unpacking modules
V
Vibration
W
who should use this manual
wiring
building your own cables
connecting cable shield
connecting DeviceNet to a network
connecting I/F cables
connecting SERCOS fiber optic cables
connecting your DeviceNet cable
grounding
input power
power connections
power wiring diagram
2098-DSD-005, -010, -020
Index I-5
2098-DSD-030
2098-DSD-075
2098-DSD-150
2098-DSD-HVxxx-xx and
-HVxxxX-xx
preparing CE clamp
requirements
routing high/low voltage cables
shunt resistor
terminal block connections
Publication 2098-IN003C-EN-P — July 2001
I-6
Index
Publication 2098-IN003C-EN-P — July 2001
For more information refer to our web site:
www.ab.com/motion
Publication 2098-IN003C-EN-P — July 2001
Supersedes Publication 2098-IN003B-EN-P — May 2001
0013-1083-003-01
Copyright
2001 Rockwell Automation. All rights reserved. Printed in USA.

Public link updated
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Key features
- Mounting instructions
- Wiring and connecting procedures
- Compatible with standard Rockwell Automation/Allen-Bradley motors
- Detailed specifications
- Interconnect diagrams
- Catalog numbers and accessories
- Ultra3000 I/O specifications
- Motor encoder feedback specifications
- Auxiliary encoder feedback specifications
- Serial interface specifications